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Abstract-The work presented in this paper focuses on reactive local trajectory planning which plays an essential role for future autonomous vehicles. The challenge is to avoid obstacles in respect to road rules while following a global reference trajectory. The planning approach used in this work is the method of clothoid tentacles generated in the egocentered reference frame related to the vehicle. Generated tentacles in a egocentered grid represent feasible trajectories by the vehicle, and in order to choose the right one, we formulate the problem as a Markov Decision Process.