What's the best kind of spline that can be used for generating trajectory that can be adapted during execution time?
The use case is having a differential drive which has to move towards a point (x,y,theta) without stopping during the movement (e.g. no, turn toward the goal, straight move to the goal position, turn to the goal orientation). The robot is provided with a laser scanner for detecting dynamic obstacles which have to be avoided.
What's the best kind of controller in this case?