Custom Object Avoidance

Hello all,

I am currently planning to implement a rover with Ardupilot. I understand that Ardupilot has built in object avoidance functionality. However, if I wished to implement my own algorithm to maneuver around obstacles, is this possible? Are there any resources or documentation pages that go more in-depth on the details on how to implement something like this?

Thanks in advance for any help and suppport.