Fast path planning for dynamic avoidance in partially known environments

A system for traversing in an environment that includes at least one obstacle, by a mobile autonomous system, to a destination in the environment, the system comprising:

• an electronic processor;
• and
• electronic persistent memory comprising instructions that, when executed by the electronic processor, configure the electronic processor to perform operations comprising:
• generating, prior to the mobile autonomous system commencing activity in the environment, a graph comprising a plurality of vertices representing positions in the environment and a plurality of edges between vertices representing feasible transitions by the mobile autonomous vehicle in the environment, wherein the vertices store identifications of next vertices in traversing to the destination, and wherein the graph is log-sparse;
• annotating the graph with at least one edge connecting a representation of a present position of the mobile autonomous system to a vertex of the graph;
• and
• determining, based on the graph, a path from the present position of the mobile autonomous system in the environment to the destination;
• wherein the mobile autonomous system is configured to traverse the environment to the destination based on the path.