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This paper deals with a path planning problem in the dynamic and cluttered environments. The presence of moving obstacles and kinodynamic constraints of the robot increases the complexity of path planning problem. We model the environment and motion of dynamic obstacles in <i>3D time-space</i>. We propose the utilization of <i>the arrival time field</i> for examining the most promising area in those <i>obstacles-occupied</i> 3D time-space for approaching the goal. The arrival time field is used for guiding the expansion of a randomized tree search in a favorable way, considering kinodynamic constraints of the robot. The quality and the optimality of the path are taken into account by performing heuristic methods on the randomized tree. Simulation results are also provided to prove the feasibility, possibility, and effectiveness of our algorithm.

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