In order to reveal the evolution rules of supply chain network with the core of manufacturers, a kind of five-level local world network model was put forward. This model used the BA model and the multi-local world theory as the foundation, combined with the reality of network node generation and exit mechanism. First of all, the intrinsic characteristics and evolution mechanism of network were studied. Secondly, the topology structure and evolution rules of the network were analyzed, and the simulation model was established. Finally, the changes of network characteristic parameters were simulated and analyzed in different time step and different critical conditions, including nodes number, clustering coefficient and degree distribution, then the evolution law of the network was derived. The simulation results show that the supply chain network with the core of manufacturers has the characteristics of scale-free and high concentration. With the increase of time and the growth rate of the network nodes, the degree distribution of overall network approaches to the power-law distribution with the exponent three. The degree distribution of the network at all levels is different, sub-tier suppliers and retailers obey power-law distribution, suppliers and distributors obey exponential distribution, manufacturers generally obey the Poisson distribution.

Navigation exists potential safety hazard when autonomous mobile robot moves in dynamic uncertain environments. In order to improve the navigation safety, a representation method of navigation environments using time of contact was proposed, namely time of contact space. As risk index in navigation environments, the time of contact between two points of an arbitrary was computed by using linear velocity and rotation velocity, and the configuration space was mapped into time of contact space when robot moved in the navigation environment. The time of contact space was applied to classic behavior dynamic navigation method. Compared with the classical behavior dynamics method and behavior dynamics adding velocity obstacles, the simulation results prove that the time of contact space can guarantee safety navigation of autonomous mobile robot.