PLANNING THE MOVEMENT OF THE ROBOT ALONG A HORIZONTAL PLANE BYPASSING TWO STATIC OBSTACLES LOCATED AT A SMALL DISTANCE FROM EACH OTHER
A.M. KOSHMAN, A.S. BYKOV, А. В. Леонард, V.A. SHURYGIN · IZVESTIA VOLGOGRAD STATE TECHNICAL UNIVERSITY · 2025
The article considers the modification of the method of automatic motion planning of a mobile robot (VC/APF+BCτI), which allows the robot to provide targeted movement (with zero initial and final linear velocities) in the allotted time with a shock-free bypass of two static obstacles. In this case, the obstacles (as well as the robot itself) are located on a horizontal plane at a small distance from each other.