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Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state

obstacle avoidance --- Pfadplanung --- motion planning --- autonomes Fahren --- HindernisvermeidungMobile robots --- path planning --- Mobile Roboter --- Bewegungsplanung --- autonomous driving