  Autonomous navigation in dynamic environment heavily depends on the
environment and its topology. Prior knowledge of the environment is not usually
accurate as the environment keeps evolving in time. Since robot is continuously
evaluating the environment as it proceeds, deciding the optimal way to traverse
the environment to get to the goal, computationally efficient yet
mathematically adaptive navigation algorithms are needed. In this paper, a
navigation scheme for mobile robot, capable of dealing with time variant
environment is proposed. This approach consists of a global planner (A*) and
local planner (VFH) to assure an optimal and collision-free robot motion. The
algorithm is tested both in simulation and experimentation in different
environments that are known to result in failures in VFH and ROS navigation
stack, for comparison purposes. Overall, the algorithm enables the robot to get
to the goal faster and also produces a smoother path while doing so.
