  It is necessary for a mobile robot to be able to efficiently plan a path from
its starting, or current, location to a desired goal location. This is a
trivial task when the environment is static. However, the operational
environment of the robot is rarely static, and it often has many moving
obstacles. The robot may encounter one, or many, of these unknown and
unpredictable moving obstacles. The robot will need to decide how to proceed
when one of these obstacles is obstructing it's path. A method of dynamic
replanning using RRT* is presented. The robot will modify it's current plan
when an unknown random moving obstacle obstructs the path. Various experimental
results show the effectiveness of the proposed method.
