Abstract: The actual battlefield environment is complex.Many hidden and dynamic obstacles cannot be detected in advance by means of high altitude.It is a threat to the security of the agent.Aiming at the unknown battlefield environment with various obstacles,taking avoiding static and dynamic obstacles and tracking targets as the research object,an APF(Artificial Potential Field) path planning algorithm for unknown environment and dynamic obstacles is proposed.In this algorithm,the agent constructs the gravitational potential field centered on the target point and the repulsive potential field centered on the obstacle,perceives the motion information of the local obstacle and the target point on the route of the agent,and adds the information into the calculation of the potential field function to achieve the effect of dynamic obstacle avoidance and tracking.On the other hand,it introduces the distance factor and dynamic temporary target point to eliminate the minimum solution and path jitter of APF algorithm.The results show that the proposed algorithm can avoid dynamic obstacles and track the target points flexibly in unknown environment,and can effectively eliminate the dead solution and path jitter problems.The proposed algorithm is compared with the traditional APF algorithm and the algorithm described in literature [19] with a dynamic obstacle avoidance mechanism added.Experimental results show that the APF algorithm can successfully resolve the problem of path planning failure of the two comparative algorithms and successfully complete the task of path planning,and the success rate is more than 95%.

Key words: Dynamic APF algorithm, Dynamic obstacle avoidance, Dynamic obstacles, Path planning, Target tracking, Unknown environment