Expanded Guide Circle-based Obstacle Avoidance for the Remotely Operated Mobile Robot

Abstract

-For the remote operation of the mobile robot, the human operator depends fully on the sensory information which is the partial information of the workspace of the mobile robot. It is usually very hard to fully manually operate the mobile robot in this situation. We propose the efficient guidance navigation method for improving the efficiency of the remote operation with the expanded guide circle using the sensory information. The guidance command is generated from the proposed algorithm using the expanded guide circle. We evaluated the performance of the proposed algorithm using the experiments.

Range Sensor-Based Efficient Obstacle Avoidance through Selective Decision-Making

“…The Expanded Guide Circle (EGC) [ 15 ] is an efficient method to induce the robot to move toward a safer area according to the user’s command, in order to the increase convenience and safety of remote operation. The EGC method is a simple algorithm, and shows good performance compared with the existing obstacle avoidance algorithms [ 1 , 2 , 10 ].…”

“…In [ 15 ], the direction for avoiding is determined by the reference line because the GC should be expanded into the direction for avoiding the obstacle. The direction selection method for obstacle avoidance results in a zig-zag motion problem, and sometimes no intersection can be generated.…”

“…In this paper, we propose an efficient obstacle avoidance method called the improved Expanded Guide Circle (IEGC). The EGC method was originally proposed for the convenience of operation when operating the mobile robot remotely [ 15 ], with modification in the operational input for avoiding obstacles. Because of the EGC’s simplicity and proper performance, it has been applied to autonomous mobile robots.…”

Autonomous Navigation of a Mobile Robot in Unknown Environment Based on Fuzzy Inference

“…Such as in [5], a navigation method combined with the inertial sensors based on an improved remote control algorithm for mobile robots was proposed. Researchers in [6] developed an expanded guide circle method for the navigation problem of mobile robots and improved the efficiency of the remote operation. There are many traditional methods designed for global path planning have also been extended to local path planning, such as potential field method [7], road map method [8] and rolling window method [9], etc.…”

Fuzzy-based Path Planning for Multiple Mobile Robots in Unknown Dynamic Environment

“…Researchers in [6] proposed a navigation method for mobile robots based on an improved remote control algorithm which combines the inertial sensors with vision information. In [7], researchers developed an expanded guide circle method for the navigation of mobile robots and improved the efficiency of the remote operation. Many traditional methods designed for global (static) path planning have also been extended to local (dynamic) path planning, such as potential field method [8], roadmap method [9] and rolling window method [10], etc.…”