I am trying to make robot drive around the room, avoiding obstacles with pathfinding. The problem is I get few waypoints from pathfinding algorithm for robot to drive to (green dots), but it drive a bit too close to corners. I try avoiding that by using blur and threshold, to make walls thicker for the algorithm, but it causes problems with different size walls(as in example picture, blur is these black dots). How do I make my robot drive in the middle as possible of room, to avoid walls and be as far as poosible (the orange line) from the obstacles?
Use Minskowski sums to "grow" the obstacles taking into account the shape/orientation of the robot.
- Not easy to understand and implement, BUT already implemented in geometrical algorithm libraries.
After finding the path, postprocess the output. Try to use a smoother for the path, like voronoi diagram in order to go to the middle of the corridor.