{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,29]],"date-time":"2026-01-29T14:33:47Z","timestamp":1769697227931,"version":"3.49.0"},"reference-count":23,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2024,9,25]],"date-time":"2024-09-25T00:00:00Z","timestamp":1727222400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2025,3,4]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this study is to propose a path-planning strategy based on the velocity-virtual spring method to realize collision-free tasks in dynamic environments and further improve the effect.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>By considering factors such as the relative velocity and direction of dynamic obstacles, the repulsive force of the robot is improved, thereby enhancing the adaptability of the strategy and achieving flexible and effective avoidance against dynamic obstacles. The attraction formula has been designed to allow the robot to have better smooth changes and higher gradients near the target, helping robots better reach the target and follow formations. Moreover, to meet the demands of the various stages during the driving process, the null space behavioral control is used to solve multi-task conflict problems and strengthen formation coordination and control.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Comparison of the planning path and formation effects through simulation and physical experiments, the results of this study show that the algorithm proposed can successfully maintain formation stability and plan smooth and safe paths in static or dynamic environments.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper proposes a path-planning strategy based on the velocity-virtual spring method to plan collision-free paths for formation in dynamic environments.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-04-2024-0179","type":"journal-article","created":{"date-parts":[[2024,9,23]],"date-time":"2024-09-23T06:40:21Z","timestamp":1727073621000},"page":"204-215","source":"Crossref","is-referenced-by-count":1,"title":["A hybrid formation path planning based on the velocity-virtual spring method in dynamic environments"],"prefix":"10.1108","volume":"52","author":[{"given":"Yimei","family":"Chen","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huanhuan","family":"Cheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Baoquan","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2024,9,25]]},"reference":[{"issue":"7","key":"key2025022811245041500_ref001","first-page":"1","article-title":"A comprehensive review of the latest path planning developments for multi-robot formation systems","volume":"41","year":"2023","journal-title":"Robotica"},{"issue":"3","key":"key2025022811245041500_ref002","doi-asserted-by":"crossref","first-page":"4843","DOI":"10.1109\/LRA.2021.3067859","article-title":"Haptic-enabled decentralized control of a heterogeneous human-robot team for search and rescue in partially-known environments","volume":"6","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"1","key":"key2025022811245041500_ref003","first-page":"27","article-title":"The null-space-based behavioral control for autonomous robotic systems","volume":"1","year":"2007","journal-title":"Intelligent Service Robotics"},{"issue":"8","key":"key2025022811245041500_ref004","doi-asserted-by":"crossref","first-page":"11811","DOI":"10.1109\/TITS.2021.3107336","article-title":"Learning-based multi-robot formation control with obstacle avoidance","volume":"23","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"key2025022811245041500_ref005","doi-asserted-by":"crossref","first-page":"5614","DOI":"10.1109\/CCDC55256.2022.10033683","article-title":"Multi-Robot formation control based on improved virtual spring method","volume-title":"2022 34th Chinese Control and Decision Conference (CCDC)","year":"2022"},{"key":"key2025022811245041500_ref006","doi-asserted-by":"crossref","first-page":"149643","DOI":"10.1109\/ACCESS.2020.3016347","article-title":"Dynamic task priority planning for null-space behavioral control of multi-agent systems","volume":"8","year":"2020","journal-title":"IEEE Access"},{"issue":"12","key":"key2025022811245041500_ref007","doi-asserted-by":"crossref","first-page":"5424","DOI":"10.1109\/TIE.2011.2130492","article-title":"Extended Virtual Spring Mesh (EVSM): the distributed self-organizing mobile ad hoc network for area exploration","volume":"58","year":"2011","journal-title":"IEEE Transactions on Industrial Electronics"},{"key":"key2025022811245041500_ref008","doi-asserted-by":"crossref","first-page":"26","DOI":"10.1016\/j.robot.2018.04.007","article-title":"An improved a* algorithm for the industrial robot path planning with high success rate and short length","volume":"106","year":"2018","journal-title":"Robotics and Autonomous Systems"},{"issue":"3","key":"key2025022811245041500_ref009","doi-asserted-by":"crossref","first-page":"2342","DOI":"10.1109\/TNSE.2021.3089833","article-title":"Local measurement based formation navigation of nonholonomic robots with globally bounded inputs and collision avoidance","volume":"8","year":"2021","journal-title":"IEEE Transactions on Network Science and Engineering"},{"issue":"9","key":"key2025022811245041500_ref010","doi-asserted-by":"crossref","first-page":"6468","DOI":"10.1109\/TNNLS.2021.3136866","article-title":"An interacting multiple model for trajectory prediction of intelligent vehicles in typical road traffic scenario","volume":"34","year":"2023","journal-title":"IEEE Transactions on Neural Networks and Learning Systems"},{"issue":"3","key":"key2025022811245041500_ref011","doi-asserted-by":"crossref","first-page":"1426","DOI":"10.1109\/TSMC.2020.3019512","article-title":"Situational assessment for intelligent vehicles based on stochastic model and Gaussian distributions in typical traffic scenarios","volume":"52","year":"2022","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"issue":"3","key":"key2025022811245041500_ref012","doi-asserted-by":"crossref","first-page":"422","DOI":"10.1108\/AA-12-2017-190","article-title":"Flexible co-manipulation and transportation with mobile multi-robot system","volume":"39","year":"2019","journal-title":"Assembly Automation"},{"issue":"1","key":"key2025022811245041500_ref013","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1007\/s10846-024-02055-w","article-title":"On real-time cooperative trajectory planning of aerial-ground systems","volume":"110","year":"2024","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"12","key":"key2025022811245041500_ref014","doi-asserted-by":"crossref","first-page":"9612","DOI":"10.1109\/TIE.2019.2892669","article-title":"Adaptive fuzzy behavioral control of second-order autonomous agents with prioritized missions: theory and experiments","volume":"66","year":"2019","journal-title":"IEEE Transactions on Industrial Electronics"},{"key":"key2025022811245041500_ref015","doi-asserted-by":"crossref","first-page":"103967","DOI":"10.1016\/j.robot.2021.103967","article-title":"A virtual force interaction scheme for multi-robot environment monitoring","volume":"149","year":"2022","journal-title":"Robotics and Autonomous Systems"},{"issue":"6","key":"key2025022811245041500_ref016","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1109\/37.476384","article-title":"Developments in nonholonomic control problems","volume":"15","year":"1995","journal-title":"IEEE Control Systems"},{"issue":"4","key":"key2025022811245041500_ref017","doi-asserted-by":"crossref","first-page":"6466","DOI":"10.1109\/LRA.2021.3092305","article-title":"Cooperative multi-robot object transportation system based on hierarchical quadratic programming","volume":"6","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"12","key":"key2025022811245041500_ref018","doi-asserted-by":"crossref","first-page":"6934","DOI":"10.1109\/TAC.2021.3136140","article-title":"Observerless output-feedback consensus-based formation control of second-order nonholonomic systems","volume":"67","year":"2022","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"3\/4","key":"key2025022811245041500_ref019","first-page":"423","article-title":"A decentralized architecture for multi-robot systems based on the null-space-behavioral control with application to multi-robot border patrolling","volume":"71","year":"2012","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"5","key":"key2025022811245041500_ref020","doi-asserted-by":"crossref","first-page":"1272","DOI":"10.1007\/s12555-018-0690-9","article-title":"A virtual spring method for the multi-robot path planning and formation control","volume":"17","year":"2019","journal-title":"International Journal of Control, Automation and Systems"},{"key":"key2025022811245041500_ref021","first-page":"3352","article-title":"Timed-elastic-bands for time-optimal point-to-point nonlinear model predictive control","volume-title":"European Control Conference (ECC)","year":"2015"},{"key":"key2025022811245041500_ref022","first-page":"1986","article-title":"Dynamic window based approach to mobile robot motion control in the presence of moving obstacles","year":"2007"},{"issue":"5","key":"key2025022811245041500_ref023","doi-asserted-by":"crossref","first-page":"1091","DOI":"10.1007\/s00161-018-0664-4","article-title":"Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following","volume":"30","year":"2018","journal-title":"Continuum Mechanics and Thermodynamics"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-04-2024-0179\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-04-2024-0179\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:38:58Z","timestamp":1753393138000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/52\/2\/204-215\/1239378"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,9,25]]},"references-count":23,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2024,9,25]]},"published-print":{"date-parts":[[2025,3,4]]}},"alternative-id":["10.1108\/IR-04-2024-0179"],"URL":"https:\/\/doi.org\/10.1108\/ir-04-2024-0179","relation":{},"ISSN":["0143-991X","1758-5791"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"1758-5791","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,9,25]]}}}