Motion planning for mobile robots considering occluded obstacles is a navigation challenge in dynamic environments. If an obstacle suddenly appears from the occluded area. a robot might collide with the obstacle. This is the occlusion problem. https://www.roneverhart.com/HP-15-EF1005DS-15-6-Laptop-HD-LED-BV-1366-x-768-AMD-ATHLON-Silver-3050U-2-3-GHZ-4GB-128GB-SSD-AMD-Radeon-Graphics-Int/