The dynamic_obstacle_avoidance module cannot expand the drivable area

[beyzanurkaya]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Dynamic_obstacle_avoidance module operates based on the logic of cutting moving objects from the drivable area. However, this module lacks the capability to expand the drivable area. This limitation restricts the module's ability to perform comprehensive avoidance maneuvers and prevents it from safely navigating around obstacles by adjusting the drivable space as needed, leading to scenarios where it may only perform minor avoidance maneuvers and cannot switch lanes to avoid obstacles effectively.

Purpose

Adding the capability to expand the drivable area to this module would enable it to avoid a wider range of dynamic objects effectively.

Possible approaches

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Definition of done

• Allowing the module to expand the drivable area when necessary.
• Allowing the module to change lanes if needed while avoiding a dynamic object.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.