Smooth formation navigation of multiple mobile robots for avoiding moving obstacles

Xin Chen, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

51 Citations (Scopus)


This paper addresses a formation navigation issue for a group of mobile robots passing through an environment with either static or moving obstacles meanwhile keeping a fixed formation shape. Based on Lyapunov function and graph theory, a NN formation control is proposed, which guarantees to maintain a formation if the formation pattern is Ck, k ∼ 1. In the process of navigation, the leader can generate a proper trajectory to lead formation and avoid moving obstacles according to the obtained information. An evolutionary computational technique using particle swarm optimization (PSO) is proposed for motion planning so that the formation is kept as C1 function. The simulation results demonstrate that this algorithm is effective and the experimental studies validate the formation ability of the multiple mobile robots system.
Original languageEnglish
Pages (from-to)466-479
Number of pages14
JournalInternational Journal of Control, Automation and Systems
Issue number4
Publication statusPublished - 1 Aug 2006
Externally publishedYes


  • Adaptive NN
  • Formation navigation
  • Interaction topology
  • Particle swarm optimization

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this