Multiple robots formation manoeuvring and collision avoidance strategy

Aolei Yang, Wasif Naeem, Minrui Fei, Li Liu, Xiao-Wei Tu

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper presents a multiple robots formation manoeuvring and its collision avoidance strategy. The direction priority sequential selection algorithm is employed to achieve the raw path, and a new algorithm is then proposed to calculate the turning compliant waypoints supporting the multi-robot formation manoeuvre. The collision avoidance strategy based on the formation control is presented to translate the collision avoidance problem into the stability problem of the formation. The extension-decomposition-aggregation scheme is next applied to solve the formation control problem and subsequently achieve the collision avoidance during the formation manoeuvre. Simulation study finally shows that the collision avoidance problem can be conveniently solved if the stability of the constructed formation including unidentified objects can be satisfied.
Original languageEnglish
Pages (from-to)696-705
JournalInternational Journal of Automation and Computing
Issue number6
Early online date29 Jun 2016
Publication statusPublished - 01 Dec 2017

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