On researching further, the local planner utilizes a lookahead point within the robot's footprint. This effectively won't help in any sort of collision detection for suddenly occurring obstacles. The collision check that is being performed right now is based on the projected robot pose, which in transformed to the respective map pixel and checked if there is a collision. This approach however does not consider the footprint of the robot, leading to collision for unsymmetrical platform.

Although on a real robot there is a safety scanner, it is essential for the local planner to plan an efficient path leading to efficient navigation.

As part of #38, dynamic lookahead distance also needs to be documented.