OmniSafe: Follow Voronoi 4 (Rural Road) collision free path navigation

 

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voronoi diagram

safe corridor

step-by-step navigation thru waypoints (therefore, no collision detection needed)

3d

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Real Voronoi (Path not affected yet)

Follow Voronoi (planned but not followed)

Follow Voronoi (planned and followed)

visual elements added back

機器人，視障者導航