How to define a function in Python. The good news is that Python makes it very simple to define functions. That’s because Python uses a very nice syntax that looks extremely similar to English.

A dynamic environment is defined that either the obstacles or the goal or both are in motion. There are many methods to deal with the problems of the path planning of the robot in dynamic environment.

The paper introduces a quadratic programming algorithm for real-time local path planning of autonomous vehicles. The algorithm relies on discretized sampling points and an enhanced cost function.