Real-time Obstacle Avoidance of Non-holonomic Mobile Robots Using Expanded Guide Circle Method

확장 가이드 서클 방법을 이용한 비홀로노믹 이동로봇의 실시간 장애물 회피

  • Shim, Young-Bo (Control and Robot Engineering, Chungbuk National University) ;
  • Kim, Gon-Woo (School of Electronics Engineering, Chungbuk National University)
  • Received : 2016.12.11
  • Accepted : 2017.01.31
  • Published : 2017.02.28


The Expanded Guide Circle (EGC) method has been originally proposed as the guidance navigation method for improving the efficiency of the remote operation using the sensory information. The previous algorithm is, however, concerned only for the omni-directional mobile robot, so it needs to suggest a suitable one for a mobile robot with non-holonomic constraints. The ego-kinematic transform is a method to map points of $R^2$ into the ego-kinematic space which implicitly represents non-holonomic constraints for admissible paths. Thus, robots with non-holonomic constraints in the ego-kinematic space can be considered as "free-flying object". In this paper, we propose an effective obstacle avoidance method for mobile robots with non-holonomic constraints by applying EGC method in the ego-kinematic space using the ego-kinematic transformation. This proposed method shows that it works better for non-holonomic mobile robots such as differential-drive robot than the original one. The simulation results show its effectiveness of performance.


Grant : Development of wide area driving environment awareness and cooperative driving technology which are based on V2X wireless communication

Supported by : Information & communications Technology Promotion(IITP)


  1. I. Ulrich and J. Borenstein, "VFH+: Reliable obstacle avoidance for fast mobile robots," IEEE Int'l Conf. Robotics and Automation, pp. 1572-1577, 1998.
  2. D. Fox, W. Burgard, and S. Thrun, "The dynamic window approach to collision avoidance," IEEE Robotics & Automation Magazine, vol. 4.1, pp. 23-33, 1997.
  3. R. Simmons, "The curvature-velocity method for local obstacle avoidance," IEEE Int'l Conf. Robotics and Automation, pp. 3375-3382, 1996.
  4. J. Minguez, and L. Montano, "The ego-kinodynamic space: Collision avoidance for any shape mobile robots with kinematic and dynamic constraints," IEEE/RSJ Int'l Conf. Intelligent Robots and Systems, pp. 637-643, 2003.
  5. J. Blanco, J. Gonzalez, and J. Fernandez-Madrigal, "Extending obstacle avoidance methods through multiple parameter-space transformations," Autonomous Robots, vol. 24, no. 1, pp. 29-48, 2008.
  6. M. Khatib, H. Jaouni, R. Chatila, and J. P. Laumond, "Dynamic path modification for car-like nonholonomic mobile robots," IEEE Int'l Conf. Robotics and Automation, pp. 2920-2925, 1997.
  7. F. Lamiraux, D. Bonnafous, and O. Lefebvre, "Reactive path deformation for nonholonomic mobile robots," IEEE Trans. Robotics, vol. 20, no. 6, pp. 967-977, 2004.
  8. Seunghwan Park and Gon-Woo Kim, "Expanded Guide Circle based Obstacle Avoidance for the Remotely Operated Mobile Robot," J. Electrical Engineering & Technology, vol. 9, no. 3, pp. 1034-1042, 2014.
  9. Han-Soo Choi, Dong-Il Kim, and Jae-Bok Song, "Simultaneous path tracking and orientation control for threewheeled omni-directional robots," Journal of Korea Robotics Society, vol. 10, no. 3, pp. 323-325, 2015.
  10. Youngbo Shim and Gon-Woo Kim, "Online Path Planning Tracking with Efficient Obstacle Avoidance using the Expanded Guide Circle Method," Korea Robotics Society Annual Conference (KRoC 2015), pp. 323-325, 2015.