add dynamic obstacle avoidance and steer around for the suddenly occuring obstacles

[padhupradheep]

There are scenarios, where a human or a forklift (for example) in the way of the robot, it might be static or dynamic sometimes. The unknown obstacles which did not appear on the map suddenly can be taken care by the global planner.

For the cases of sudden occurrences, it is necessary for the robot to react and steer around the obstacle in both static case and dynamic case. Currently the robot stops when it see a sudden obstacle. A much more appreciated behavior would be for the robot to move around the obstacle, even before the global planner updates itself. A possible solution would be to use a customized potential field approach..

It would be nice to have a spring behavior, if the robot could spring back from the obstacles in case if it see a possible collision and tries to reach the goal without emergency stop.

Obstacle avoidance will be purely based on potential field approach

More to follow..!