Abstract: While using the artificial potential field method, the influence distance of obstacles is usually a fixed value, which inevitably leads to the occurrence of unnecessary collision avoidance behavior, thus greatly reducing the efficiency of path planning. In the dynamic environment, the collision risk assessment model and the obstacle influence distance determination model targeting unnecessary collision avoidance behaviors are proposed. Moreover, aiming at solving the problem of goals nonreachable with obstacles nearby (GNRON), the time collision risk model which is capable of distinguishing and assessing obstacles is proposed. Furthermore, in order to deal with the trap problem, the virtual obstacle method is proposed. The model and the method mentioned above together form the non-trap dynamic path planning method based on collision risk. Finally, the simulation results show that this method can effectively avoid unnecessary collision avoidance behavior and trap problem, and there is no GNRON problem. Besides, the obtained path is relatively short and smooth.

Key words: artificial potential field, dynamic environment, unnecessary collision avoidance, goals nonreachable with obstacles nearby (GNRON), trap problem, collision risk, virtual obstacle