Vehicle Local Motion Planner for Small Obstacles Mitigation

By leveraging Navigation Toolbox™ and Stateflow^® with MATLAB^®, you can design a search-based local motion planner to generate a minimal safe trajectory over an obstacle. This planner can handle a variety of cases including:

1. Generating a new trajectory to drive over a small obstacle
2. Generating a trajectory around the obstacle if it is too large
3. Including reverse motion if the obstacle is detected very close to the vehicle