Enhancing ORCA/ROV2

I've been working on enhancing the obstacle avoidance of ROV2/ORCA.

I've actually edited this post because my previous idea didn't out too well.

I've found by adding an extra velocity point shown in red, collisions are more likely to be avoided. Without it the agent considers the wall is moving from blue to green (while it is moving from blue to green). By adding the extra red point, the agent steers away from the obstacle.