POA: Passable Obstacles Aware Path-planning Algorithm for Navigation of a Two-wheeled Robot in Highly Cluttered Environments

• URL: http://arxiv.org/abs/2307.08141v1
• Date: Sun, 16 Jul 2023 19:44:27 GMT
• Title: POA: Passable Obstacles Aware Path-planning Algorithm for Navigation of a Two-wheeled Robot in Highly Cluttered Environments
• Authors: Alexander Petrovsky, Yomna Youssef, Kirill Myasoedov, Artem Timoshenko, Vladimir Guneavoi, Ivan Kalinov, and Dzmitry Tsetserukou
• Abstract summary: Passable Obstacles Aware (POA) planner is a novel navigation method for two-wheeled robots in a cluttered environment. Our algorithm allows two-wheeled robots to find a path through passable obstacles.
• Score: 53.41594627336511
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper focuses on Passable Obstacles Aware (POA) planner - a novel navigation method for two-wheeled robots in a highly cluttered environment. The navigation algorithm detects and classifies objects to distinguish two types of obstacles - passable and unpassable. Our algorithm allows two-wheeled robots to find a path through passable obstacles. Such a solution helps the robot working in areas inaccessible to standard path planners and find optimal trajectories in scenarios with a high number of objects in the robot's vicinity. The POA planner can be embedded into other planning algorithms and enables them to build a path through obstacles. Our method decreases path length and the total travel time to the final destination up to 43% and 39%, respectively, comparing to standard path planners such as GVD, A*, and RRT*

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