**5. Conclusions**

This paper has introduced a path planning method for an autonomous vehicle in a warehouse, wherein the cargoes may occlude the inflated signals emitted by the ego vehicle for inflated positioning. According to our conducted simulations, the proposed planner is efficient according to its w.r.t. collision avoidance, kinematic feasibility, occlusion awareness, and tractability.

**Author Contributions:** Conceptualization, B.L. and Y.Z.; methodology, B.L.; validation, S.T. and X.Z. All authors have read and agreed to the published version of the manuscript.

**Funding:** This research was funded by Fundamental Research Funds for the Central Universities of China, grant number 531118010509, National Natural Science Foundation of China, grant number 62103139, and Natural Science Foundation of Hunan Province, China, grant number 2021JJ40114.

**Conflicts of Interest:** The authors declare no conflict of interest.
