Bobby Brown has filed a lawsuit against ex-wife Whitney Houston to challenge for at least joint custody of their daughter, Bobbi Kristina.

Bobby claims he couldn’t petition for custody during the original divorce proceedings because after he separated from Whitney, “I had nowhere to go and very little money to live on. I was, for all intents and purposes, homeless.”

He now hopes the court will reassess the decision to give Whitney sole custody as: “I believe I have a wonderful relationship with my daughter Bobbi - a relationship that I would like to see strengthen and grow.”

Whitney and Bobby separated last September and their divorce was finalised last month.

Bobbi Kristina is Bobby’s third child: he also has two teenage children from a previous relationship.