让机械臂在杂乱环境中自主导航避障，实时感知+动态规划

Robotic manipulators operating in unstructured environments face significant challenges in safely executing goal-directed tasks due to dynamic and unforeseen obstacles, while traditional methods rely on prior knowledge or fixed perception pipelines, limiting adaptability. We propose a framework for safe task execution with effective obstacle avoidance. The environment module performs real-time obstacle detection, 3D localization, and ground surface geometry estimation. It then generates a structured semantic report that includes obstacle positions, object geometry and shape, and whether obstacles lie inside, outside, or within critical interaction zones. A central coordination module manages the overall system by handling tool invocation (e.g., memory and MoveIt collision scene updates), facilitating communication between modules, and continuously monitoring task progress until completion. Furthermore, a planning module selects an appropriate motion planning algorithm, such as RRTConnect, RRT*, or BiTRRT, based on the current environment configuration and goal requirements. The trajectory generated by the planner is further analyzed and refined to ensure safe and collision-free task execution. The proposed approach is evaluated in Gazebo Classic , demonstrating robustness in dynamic scenarios.