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2D motion planner with a minimum safe distance

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I am right now writing a code for the movement of a person in a building.
I need to write a route planner from start point to endpoint in an occupancymap( the shapefile of the buildings are already converted into binary occupancymap)
I found on the documentation many codes for the route planning.
In my Case i need to implement one condition: the person needs to be always at least 1.5 m from the buildingswalls and from each obstacle or person that gets on its way.
Does anyone have any Idea how to implement this condition on one of the already available route planner codes?
I am grateful for each hint and help

Accepted Answer

Cam Salzberger
Cam Salzberger on 26 Oct 2020
Hello Fedi,
I believe that the usual workflow for this is to simply inflate the occupancyMap by your minimum safe distance (plus the robot radius, if that isn't already included).

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