Visualization of a Dynamic Window Obstacle Avoidance (DWOA) short term planner on the RACECAR platform. A small window of reachable configurations that do not lead to collision are quickly searched to fins a "best" steering angle and velocity for the next timestep. In this video, the objective is to find trajectories that maximize forward progress and orientation without running into obstacles. The colored box on the left helps visualize the simple optimization. the x axis represents discrete steering angles., with the center column of the grid indicating zero turning angle. The y axis indicated forward velocity commands for the next timestep.
