Obstacle Avoidance With Pathplanner Resources?

Technical Programming
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I’m interested in doing obstacle avoidance for my team this year, but it’s a little fuzzy on how I can implement it with Path planner, does anyone have resources or related example on how it’s been done by other teams / groups?

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For pathfinding, PathPlanner can do obstacle avoidance based off of a navgrid.json file (docs cover it here).

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