DWA Local Planner

Key Insight

Integrate a local obstacle-avoidance controller based on the Dynamic Window Approach (DWA) with an A* search global planner. While the global planner finds a static route to the target, the local planner dynamically selects velocity commands that avoid obstacles by projecting the robot's state forward in time. This layered navigation stack ensures the robot can navigate complex rooms while reacting immediately to dynamic obstacles.