针对传统轮式机器人编队避障策略存在耗时长、环境适应度差的问题,提出了一种结合路径规划启发函数和最优队形变换的时效优先避障策略.首先,建立机器人编队队形和各队形变换知识库;其次,根据路径启发函数和最优队形变换得到避障耗时评估值,其最小值对应路径即为时效优先的;最后,基于leader-follower(领航跟随者)拓扑,完成避障任务.对该方法进行仿真分析,并与传统的机器人编队避障方法对比.结果表明,所提方法在避障的效率、灵活性方面都更胜一筹. Aiming at the problem that the obstacle avoidance strategy of traditional wheeled robots has the problem of time consuming and poor environment adaptability, a strategy based on path planning heuristic function and optimal formation transformation is proposed.Firstly, Each team-shaped transformation knowledge base; secondly, based on the path heuristic function and the optimal formation transformation, the obstacle avoidance time-consuming assessment value is obtained, and the minimum corresponding path is time-critical. Finally, based on the leader-follower topology, , And completed obstacle avoidance task.The simulation analysis of the method and the comparison with the traditional robot formation obstacle avoidance method show that the proposed method is superior to the efficiency and flexibility of obstacle avoidance.