Local Planning System

Overview

As a key component of the Navigation Stack at Miko.AI, the Local Planning system provided reactive path planning and real-time trajectory generation for immediate navigation challenges.

Technical Details

Real-time Navigation

• Implemented Dynamic Window Approach (DWA) for trajectory generation
• Developed novel cost function for trajectory optimization
• Designed smooth acceleration and deceleration profiles

Obstacle Avoidance

• Developed collision prediction and avoidance systems
• Implemented reactive behavior patterns for unexpected obstacles and recovery behavioours in case collision does occur.
• Created emergency stop protocols for safety
• Designed safety zone calculations

System Integration

• Integrated with RGBD/Time-of-Flight sensor systems for real-time obstacle detection
• Created seamless handoffs with global planning system
• Developed efficient communication with local mapping
• Implemented real-time performance monitoring