• obstacle avoidance
• artificial potential field
• dynamic avoidance
• motion planning
• mobile robot

The purpose of this thesis is to analyse different methods for obstacle avoidance. We choose one to which an improvement is proposed then an application is proposed on a mobile robot in a dynamic environment to detect, avoid moving obstacles and find path from a starting point to a target able to move. New decision conditions have been proposed for mobile robot motion planning in a dynamic environment. The new conditions take into account not only the relative positions of the robot with respect to the target and obstacles, but also the relative positions and velocities of the target with respect to the obstacles. A second improvement is taking in consideration the orientations of the attractive and the total repulsive forces to avoid local minimum.