在涉及机器人自主运动和目标跟踪等场景中，动态障碍物的存在可能会对实时规划产生威胁。因此，生成一条安全路径以确保机器不会与动态障碍物发生碰撞显得至关重要。为此，提出一种改进的动态窗口法（dynamic window approach, DWA），其基于参考速度障碍物（velocity obstacle, VO）的思想，通过考虑障碍物的速度计算基于障碍物的危险区域，进行DWA节点选择排除不可行的路径，并且通过引入人工势场法作为评价函数选择最佳节点以避免与动态障碍物发生碰撞且能够快速到达期望目标点。结果表明：相对于传统的DWA算法，本文提出的DWA-VO算法在动态环境中相对于传统的DWA算法具有更高的成功率和更好的规划质量。

In scenarios involving autonomous robot motion and target tracking, the presence of dynamic obstacles can pose a threat to real-time planning. Therefore, generating a safe path to ensure that robots do not collide with dynamic obstacles becomes paramount. An improved dynamic window approach (DWA) algorithm based on the concept of velocity obstacles (VO) was proposed. By considering the velocity of obstacles, obstacle-based danger zones was calculated and them for DWA node selection was used to eliminate infeasible paths. Additionally, an artificial potential field as an evaluation function was introduced to select the optimal nodes, ensuring collision avoidance with dynamic obstacles and quick attainment of the desired target point. Results indicate that the proposed DWA-VO algorithm exhibits higher success rates and superior planning quality in dynamic environments compared to traditional DWA algorithms.