Design a Robot Human-Avoidance Navigation System (High-Level Pseudocode + Architecture)

Problem: Design a Robot Navigation System to Avoid Humans (Open-Ended System/Algorithm Design) Design a mobile robot that navigates in an indoor/warehouse environment and safely avoids humans while moving toward a goal location. Provide: Sensor selection: Choose an appropriate set of sensors (e.g., camera, depth camera, LiDAR, ultrasonic, IMU, wheel odometry) and explain what each is used for. Core data structures: What state do you maintain (e.g., occupancy grid, cost map, dynamic obstacle list, trajectory queue), and what fields are stored in each. System architecture / module breakdown: Include at least perception (human detection/tracking), localization & mapping / map management, planning (global/local), control & execution, and safety policy (emergency stop / safety distance). Describe the data flow between modules. Planning strategy: How do you generate safe actions/paths in the presence of moving humans (e.g., local obstacle avoidance, short-horizon human motion prediction, cost-based planning). Pseudocode: Write pseudocode for a main loop (e.g., 10Hz/20Hz) showing the key steps from sensor input to control output. Constraints & Objectives The robot must move from a start position to a given goal. Humans may appear and move unpredictably. Priority: safety (no collisions), then reaching the goal, then efficiency (path length / travel time). Notes No need for fully runnable code; text + pseudocode is sufficient. You may make reasonable assumptions, but state them explicitly.