Collision Avoidance solution

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Hello,

I am a beginner in ROS world. I am simulating a bot in a 2D board. The virtual bot is equipped with 9 lasers, and I have laserScanCallback information (9 distances). I can publish an acceleration command (x and y directions) as input, either positive or negative, to change the velocity of the bot. I can also read the velocity values (x and y) as callback.

In the board, there are some obstacles, and I would like the bot avoids them autonomously. What is the best way to achieve my goal? How to use the information from the lasers to control the velocity?

Sorry for the noob questions but I am learning.

Thank you!

M.