Approaching a woman in public

There is a woman I meet a few times a week at the local park. She has a dog, I have a dog. We have shared a laugh a few times, stopped because our dogs wanted to say hi. Had some chit chat and banter.

She is really funny, smart and has a gorgeous smile.I know she is single because she told me,and I am single too. I would love to ask her if she would be interested in grabbing a coffee with me sometime. I would obviously love if she said yes, however I realise she also may say No, which is fine if she does. But I dont want her to feel she has to avoid her local park if she says no. But if I dont ask I feel I will be always wondering and will regret it.

If you are a woman how would you feel about the guy you regulary bump into at the park asking if you would be interested in grabbing a coffee sometime?