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*

翻译：摘要：本文聚焦于可通行障碍物感知（POA）规划器——一种适用于高密度杂乱环境下双轮机器人的新型导航方法。该导航算法通过检测与分类对象，将障碍物区分为可通行与不可通行两类。我们的算法允许双轮机器人在可通行障碍物中规划路径。这一方案有助于机器人在标准路径规划器无法进入的区域工作，并在机器人周围存在大量物体的场景中寻找最优轨迹。POA规划器可嵌入其他规划算法中，使其能够构建穿越障碍物的路径。与GVD、A*和RRT*等标准路径规划器相比，该方法将终点路径长度与总行驶时间分别缩短最高达43%和39%。