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

Alexander Petrovsky,Yomna Youssef, Kirill Myasoedov, Artem Timoshenko, Vladimir Guneavoi,Ivan Kalinov,Dzmitry Tsetserukou

CoRR（2023）

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摘要

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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关键词

Path Planning,Pathfinding,Cluttered Environments,Two-wheeled Robot,Path Length,Planning Algorithm,Types Of Obstacles,Outdoor Environments,Shortest Path,Point Cloud,Standard Algorithm,Radians,Inertial Measurement Unit,Depth Camera,3D Environment,Pitch Angle,Points In Cells,3D Point Cloud,Roll Angle,Grid Map,Unstructured Environments,Simultaneous Localization And Mapping,Occupancy Grid,Linear Quadratic Gaussian,Path Segment,Point Cloud Classification,Need For Solutions,Voronoi Diagram,Radial Basis Function,Environmental Density

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