Snake　robots　under　environments　with　avoidance　constraints　hardly　track　routes　such　that　traditional　guidance　approaches　become　infeasible.　Motivated　by　it,　this　work　presents　a　line-of-sight-guidance　virtual-snake-robot　integrated　scheme　for　snake　robots　to　track　paths　and　obey　collision　avoidance　regulations.　Main　contributions　include　the　avoidance　regulation-compliant　kinematics　guidance　law　and　finite-time-converged　adaptive　dynamic　controller.　In　kinematics,　a　virtual　leader　is　used　to　optimize　nondifferentiable　inflection　into　smooth　to　provide　a　jitter-free　direction.　Considering　avoidance　constraints,　corresponding　guidance　strategies　are　innovatively　designed　for　head-on,　overtaking,　and　crossing　scenarios　to　ensure　the　safety　and　autonomy　of　path　tracking.　In　terms　of　dynamics,　maneuvering　control　is　executed　by　a　finite-time　disturbance　observer-based　event-triggered　terminal　sliding-mode　controller.　The　unmeasured　errors　and　uncertainties　are　accurately　compensated,　and　input　event-triggering　rules　can　reduce　the　actuator　burden.　Finally,　the　stability　analysis　proves　system　errors＇　finite-time　convergence,　and　result　validations　confirm　the　performance　superiority　and　feasibility　of　this　method.　©　1982-2012　IEEE.