Abstract: An obstacle detection system includes a lift device including: a chassis; a drivetrain coupled to the chassis and configured to propel the lift device; an implement; a lift assembly coupled to the chassis and the implement, the lift assembly configured to raise the implement relative to the chassis; and a sensor. One or more processing circuits are configured to: receive sensor data from the sensor; detect an obstacle near the lift device based on the sensor data; determine, responsive to the obstacle being near the lift device, a path to a destination for the lift device that avoids interacting with the obstacle; and control at least one of the drivetrain or the lift assembly to move the lift device on the path to the destination.