There are many techniques for obstacle detection, such as deep learning-based detection using cameras, special sensors that map the environment, and radar systems used in cars. The choice of technique can be tailored to the specific task. For example, you can use YOLO (You Only Look Once) algorithms to detect and classify obstacles with a camera. YOLO can apply heatmaps to identify objects and is widely used for detecting moving subjects. Additionally, you can integrate a deep learning model to enhance YOLO’s detection capabilities and train the model to predict the probable next movement of these subjects. Note: you can define whatever feature you want with YOLO