How to check if there is any object in the vicinity of a mobile robot?

I am moving a robot on a pre-determined path using pure pursuit. There also other dynamic objects intersecting the path and the routes of these objects are also pre-determined by me and use pure pursuit. Now, the robot doesn't know of these dynamic objects so I want to set a radius around the robot and make the robot stop or maneuver around the object once there is any object in that radius. My question is, how can I detect a moving object in that radius? I don't know how to approach this problem so any help would be appreciated.

Answer 1

[Alisha Schor]

The documentation for the Robotics Systems Toolbox has an example: Path Following with Obstacle Avoidance, that describes how to do this. From the perspective of the robot, a dynamic object and a static object will be detected in the same way. You may have to adjust the behavior to be more conservative if the dynamic objects are moving quickly relative to the robot's speed.