OmniSafe: Follow Voronoi (New Scenario Campus Trail)

Safe Route

Voronoi-based Safe Route 

Template change

original

navigate

Voronoi (nonoreal)

Voronoi (real)

路徑指引必須使用Voronoi

Redo

Implementation obstacle avoidance handles 

Non Voronoi 

Use visual elements instead 

Autoplay

Safe corridor based on heuristics 

Path within corridor

Voronoi Corridor