Dual Expanded Guide Circle (Dual-EGC) algorithm for obstacle avoidance of remotely operated mobile robot

摘要

Mobile robots use several sensors to obtain information about the surrounding environment and perform its mission. In general, when an operator controls this robot remotely, the situation around robot should be recognized only by the transmitted information from it. However, it is hard to operate it easily without collision using the limited information transmitted from it. If the robot have its autonomy in part such as avoiding collision, it can be helpful for the operator to control it efficiently. The Expanded Guide Circle (EGC) algorithm has been designed to increase the convenience and safety of a remote operation of mobile robots. However, the original EGC algorithm has several disadvantages that can cause zig-zag motion when approaching an obstacle under certain conditions or passing through a narrow path or corridor. In this paper, we proposed the modified EGC algorithm in order to resolve these problems of the original one using the concept of Dual-EGC.