Robot moves in the environment with the static and moving objects, collision avoidance is an important point.
机器人在具有运动物体的环境中完成任务，障碍回避是一项很重要的任务。
The robot has two behaviors in the course of planning: moving to the goal and collision avoidance, and the collision avoidance behavior has the higher priority.
在规划过程中，机器人有两种行为：向目标运动和避碰，且避碰行为具有优先权。
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