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- W4384644542 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*" @default.
- W4384644542 created "2023-07-19" @default.
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- W4384644542 date "2023-07-16" @default.
- W4384644542 modified "2023-10-18" @default.
- W4384644542 title "POA: Passable Obstacles Aware Path-planning Algorithm for Navigation of a Two-wheeled Robot in Highly Cluttered Environments" @default.
- W4384644542 doi "https://doi.org/10.48550/arxiv.2307.08141" @default.
- W4384644542 hasPublicationYear "2023" @default.
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