[Autoware]How to relocate the new path when you find the obstacles

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Hello. I'm new to ROS and autoware. I'm trying to use astar_avoid for relocating the path when AVG(it has a LiDAR) find the obstacle in a small room(office room). But the new path never shows up. We only can see the way which we planned.

I also enabled -lidar_eculdian_cluster_detect -costmap_generator -astar_avoid -lane_rule,lane_stop and lane select

Is it difficult for autoware to find the obstacles(ex. chairs, people...) and recreate a new path in a small room?

It seems to be ok to find the obstacles but never relocate.