Before revision:  Specifically, the generated path shows the consistent collision-free path in real-time by adopting the euclidean signed distance field-based grid search method. Simulations consistently show the safety, and reliability of the proposed path-planning method.
After revision:  Specifically, the generated path shows the consistent collision-free path in real-time by adopting the euclidean signed distance field-based grid-search method. The simulation results consistently showed the safety, and reliability of the proposed path-planning method.