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Hi, Basically you are talking about the navigation stack with obstacle avoidance. ROS already has a navigation stack that you can make use of. You may look into http://www.ros.org/wiki/navigation and http://www.ros.org/wiki/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM for using kinect in your navigation and mapping.

Hope it helps

Karthik

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