https://se.mathworks.com/help/nav/ref/controllerteb.html
controllerTEB - Avoid unseen obstacles with time-optimal trajectories - MATLAB
The controllerTEB object creates a controller (local planner) using the Timed Elastic Band (TEB) algorithm.
with timeavoidunseenobstaclesoptimal
https://uk.mathworks.com/help/nav/ref/controllerteb.clone.html
clone - Create deep clone of controllerTEB object - MATLAB
This MATLAB function creates a deep clone of the controllerTEB object controller1.
clonecreatedeepobjectmatlab