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A two step planning approach of global planning and local planning (also called as Hierarchical Planning) is explained well in Spline-based RRT Path Planner, The authors state that :

• In the global planning stage we try to find a collision free kinematically feasible path from start to goal while skipping the differential or dynamic constraints (so this is where obstacle avoidance should be happening)
  • In the local planning stage, we use path smoothing to meet the differential/dynamic constraints