关键词：避免碰撞;通信协议;成本低;性能（工程）;机器人
摘 要：The virtual motion camouflage varying manifold based optimal planning algorithm, inspired by the observation in mating hoverflies, is investigated and the performance is enhanced significantly in terms of the convergence speed and collision avoidance capability. The dimension and time complexities of the innovative algorithm are analyzed. A new strategy based on local pursuit is compared with the virtual motion strategy in constructing the varying manifold. The algorithm is validated in an enhanced low cost robot testbed.