Can base local planner be used for moving obstacle?

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By avoid I mean that I have a moving obstacle that is moving back and forth with a speed of 1m/s. Then I will set a goal for the robot to move pass the moving obstacle, or some time into the obstacle to see if it can avoid collision.

I don't think it's going to be highly robust at that task. It probably won't hit the moving obstacle, but it's unlikely to get through reliably (it probably will occasionally, but not always).

After looking through the source code, my understanding is that in every planning cycle, the planner will remove every trajectory in which it foresees collision with obstacle. That's how the obstacle avoidance work. But this implies that the planner assumed that the obstacle is stationary

So the vel cmd it generate at one instance may cause collision in the next instance, as the future movement of obstacle is not considered in the previous instance. So in the situation you described in your answer, it works as the obstructing person did not move subsequently. Am I right to say that?

Right, it doesn't try to predict where obstacles will be, it assumes the world is static. The thing you do get, is when the robot determines that it can't come up with a safe trajectory it will stop. Hence, it won't collide most likely, but it isn't designed for a moving obstacle course.

I see, I have been puzzled over my simulation result. But this seems to contradict the paper on ROS wiki, that stated RHINO is able to navigate in "populated and dynamic environment". Perhaps I misunderstood the meaning of "dynamic".

@ChengXiang did you manage to find a solution and make the robot avoid the moving obstacle? im looking to do the same , would really appreciate the help