Before revision:  This paper presents a novel local planner architecture for path following and obstacle avoidance by proposing a hybrid system that uses a classic path following algorithm in parallel with a neural network. Our solution, called the modification architecture, uses a path following algorithm to follow a reference path and a neural network to modify the references generated by the path follower in order to prevent collisions.
After revision:  This paper presents a novel local planner architecture for path following and obstacle avoidance by proposing a hybrid system that uses a classic path following algorithm with a deep reinforcement learning agent. The novel "modification planner" uses the path follower to track the global plan and the deep reinforcement learning agent to modify the references generated by the path follower in order to prevent collisions.