Then a new attractive force function and a new repulsive force function are deduced, which the robot can adjust its velocity to escape from obstacles, and move to target quickly, or track target synchronously.

• 在新的势场函数作用下机器人能够快速调整自身的速度大小和方向，使其快速脱离障碍物的威胁并能快速地到达目标或追踪目标。