Obstacle avoidance in formation

Petter Ögren, Naomi Enrich Leonard

Research output: Contribution to journalConference articlepeer-review

90 Scopus citations


In this paper, we present an approach to obstacle avoidance for a group of unmanned vehicles moving in formation. The goal of the group is to move through a partially unknown environment with obstacles and reach a destination while maintaining the formation. We address this problem for a class of dynamic unicycle robots. Using Input-to-State Stability we combine a general class of formation-keeping control schemes with a new dynamic window approach to obstacle avoidance in order to guarantee safety and stability of the formation as well as convergence to the goal position. An important part of the proposed approach can be seen as a formation extension of the configuration space obstacle concept. We illustrate the method with a challenging example.

Original languageEnglish (US)
Pages (from-to)2492-2497
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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