To avoid collision with the static and dynamic obstacles,we move the relative velocity away from the collisions field by adjusting the robot velocity value and direction real time dynamically in acceleration space based on relative coordinates.

• 此方法是基于相对坐标系 ；在加速度空间中 ；通过动态实时地调整机器人自身速度的大小和方向使其离开碰撞区域 ；即碰撞危险区域 ；达到与动、静态障碍物之间的避碰 .