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for planning and navigation, ROS uses a node called move_base. Roughly, it divides the planning problem in two parts, the first creates a complete path from the start to the goal and is called global planner and another part creates local trajectories so the robot can follow the global path, and is called local planner. In the way this node is implemented, it allow you to use different local and global planners. By default, the global planner is called navfn, which implements Dijkstra's algorithm. For more info:

move_base

global_planner

navfn