动态环境下自主机器人的双机制切向避障

章一鸣,姚文广,陈海进

Dual-mechanism tangential obstacle avoidance of autonomous robots in dynamic environment

Yiming ZHANG,Wenguang YAO,Haijin CHEN

图 1 传统人工势场法的局部极小值陷阱

Fig.1 Local minimum trap of traditional artificial potential field method