Under CopyrightPetereit, JankoJankoPetereitEmter, ThomasThomasEmterFrey, ChristianChristianFreyKopfstedt, T.T.KopfstedtBeutel, A.A.Beutel2022-03-1320.1.20162012https://publica.fraunhofer.de/handle/publica/39055710.24406/publica-fhg-390557Efficient path planning is one of the main prerequisites for robust navigation of autonomous robots. Especially driving in complex environments containing both streets and unstructured regions is a challenging problem. In this paper we present the application of the Hybrid A* algorithm to a nonholonomic mobile outdoor robot in order to plan near optimal paths in mostly unknown and potentially intricate environments. The implemented algorithm is capable of generating paths with a rate of at least 10 Hz to guarantee real-time behavior.enconference paper