*4.1. Experiment Environment*

Experiments were conducted on Intel Core i5-6500 3.20GHz, GPU GTX 1060 6GB, RAM 8GB, OS Ubuntu 16.04 and Window 7 Python and C++.

On a regular PC, we built a simulator using C++ and Python in a Linux environment. The robot has four random positions and its arrival position is always in the upper right corner. In a static and dynamic obstacle environment in the simulator, the number and location of obstacles are chosen randomly. Under each environment, the proposed algorithm is compared with A\* and algorithm D\* algorithm, respectively.

The simulation was conducted under the environment without considering the physical engine of the robot, assuming that the robot made ideal movements.
