Path collision avoidance

A path collision avoidance system comprising:

• a display;
• a processing unit;
• and
• a non-transitory computer-readable medium containing instructions configured to direct the processing unit to:
• obtain a three-dimensional point cloud of an at least partially enclosed space;
• obtain a voxelized model of a vehicle/robot;
• output a visual representation of navigation of the vehicle/robot within the at least partially enclosed space on the display based on the three-dimensional point cloud of the at least partially enclosed space and the voxelized model of the vehicle/robot.