With an ability to mimic the human behaviour and replace human efforts in proper platforms, humanoid robots have always acquired a special place among robotics practitioners. Being a complex method of analysis, navigation and path planning, humanoid robots still possess an interesting yet challenging area of investigation. In the current work, a novel navigational strategy has been proposed for smooth and hassle-free movement of single as well as multi-humanoid robots in complex environments. Here, the navigational plan is based on a virtual target displacement strategy which is activated when the robot is unable to find a safe path along the actual target line. After detection of a potential obstacle by the sensors of the robot, a number of virtual targets are generated around the actual target. Then, the most feasible path and point to move are calculated by assigning suitable weightage through several selected parameters to each target line and visualizing the safest path. The proposed approach is implemented on a V-REP simulation platform, and the simulation results are also validated against an experimental set-up prepared under test conditions. The validation of simulation results against experimental counterparts has revealed satisfactory agreement between them. To avoid possibility of any inter-collision during navigation of multi-humanoids under a common platform, a Petri-Net strategy has been integrated along with the proposed control strategy. Finally, the developed approach is also assessed against another existing navigational controller, and a significant performance improvement has been observed.