Robots need to move safely and gracefully in an environment including static obstacles such as walls and furniture and dynamic obstacles such as pedestrians and vehicles. My former student Jong Jin Park developed a robust graceful control law, implemented and tested on our intelligent robotic wheelchair, Vulcan.
Recently, I learned of a new open-source implementation I would like to draw your attention to, written by Nils-Christian Iseke (github, LinkedIn).
For reference, here are pointers to Jong Jin's work:
I'm sure that Nils (nils.iseke@gmail.com) would appreciate any feedback you have, but please keep me (kuipers@umich.edu) and Jong Jin (jongjinp@umich.edu) in the loop as well.
Update: 6 May 2025.