# 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)
• Accepted : 2017.01.31
• Published : 2017.02.28

#### Abstract

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.

#### Acknowledgement

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)

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