This approach improves targeted movement around static obstacles in limited space, indicating enhanced navigation efficiency.
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.
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KOSHMAN et al. (2025) studied this question.
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