Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 15, issue 1
Articles | Volume 15, issue 1
https://doi.org/10.5194/ms-15-195-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-15-195-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 15, issue 1
Research article
 | 
22 Mar 2024
Research article |  | 22 Mar 2024

Multi-robot consensus formation based on virtual spring obstacle avoidance

Yushuai Fan, Xun Li, Xin Liu, Shuo Cheng, and Xiaohua Wang

Viewed

Total article views: 1,089 (including HTML, PDF, and XML)
HTML PDF XML Total BibTeX EndNote
863 197 29 1,089 37 60
  • HTML: 863
  • PDF: 197
  • XML: 29
  • Total: 1,089
  • BibTeX: 37
  • EndNote: 60
Views and downloads (calculated since 22 Mar 2024)
Cumulative views and downloads (calculated since 22 Mar 2024)

Viewed (geographical distribution)

Total article views: 1,054 (including HTML, PDF, and XML) Thereof 1,054 with geography defined and 0 with unknown origin.
Country # Views %
  • 1
1
 
 
 
 
Latest update: 17 Sep 2025
Download
Short summary
In this study, we systematically improved the multi-robot formation control algorithm. We employed a virtual spring approach to stabilize formations, enhanced the Velocity Obstacle algorithm to address collisions in dynamic mobility, and introduced a leader for consistency. Simulations with up to 20 robots confirmed our method's suitability for large-scale formation obstacle avoidance. Position error and path length remained stable as robot numbers increased.
Read more
Share