Abstract: In this paper, an obstacle avoidance scheme for robot using digital potential field in C-T configuration-time (C-T) space is presented.In terms of a grid digital potential filed with repulsion potential energy and attractive potential energy in the C-T space, collision avoidance for robot to the dynamic obstacle is implemented using interpolation of discrete path in the C-T space.Simulation shows that, compared to conventional methods, the scheme has higher computation efficiency, and reduces much explicit computation in C space.The scheme is applicable to avoidance path planning for robot under a dynamic environment.

Key words: C-T space, digital potential filed, dynamic obstacle, robot, path planning