• Real-time algorithms for following a given path while avoiding initially unknown static obstacles.
• Uses RRT* and Visibility graph along with padding obstacles.

RRT* planning frequency vs number of sensed obstacles.	Visibility graph planning frequency vs number of sensed obstacles.

RRT*	Visibility graph
Straigh path with 5 points.
Perpendicular turn with 5 points.
Obstacles.
Obstacles over points on given path.
Complete block.
Small passage.
Shielding final point.
Arc.
Arbitrary path (top down view).

• Arbitrary path (side view).

• RRT* planning frequency vs number of sampled nodes.

Object	Description
White circle	Agent's circumcircle
Black line on agent	Agent's orientation
Faint gray path	Given path
Corresponding pink paths	Padding obstacles in configuration space
Faint green circle around agent	Sensing region
Inner pink rectangles	Physical obstacle bounding boxes
Outer pink obstacles	Configuration space obstacle bounding boxes
Green path	Output path
Red circle	Local target position of agent after path optimization
Cyan rectangle	Sampling region
White tree	The RRT* tree
White lines	Visibility graph