How to calculate width of gap between two objects along an oblique angle

[imk]

Hello
I am working on an autonomous robot project and wish to steer the robot in-between two objects along an oblique angle and need to calculate if the robot will fit.

The robot is positioned in the middle of a Cartesian system and with its sensors it has detected objects A and B. I have calculated the angle/bearing and distance to point A and B from the robots position, also the angle/bearing to the mid point ‘C’ between A and B.

Question is, how to calculate the width/distance between object A and B for an oblique steering angle/bearing?
See attached image
Many thanks in advance Ian

 

[blamocur]

Question is, how to calculate the width/distance between object A and B for an oblique steering angle/bearing?

Do you assume that A and B have zero sizes? If not, what are the sizes and the shapes of those objects?
What is oblique steering?

 

[imk]

Hello Blamocur and many thanks for your post.
Objects A and B can be considered as 1cm square and the robot is 20cm square
oblique steering?
If the robot was on a (steering) line perpendicular to the line between object A and B heading towards point C, the width would be distance between A and B
Question is: when steering a non perpendicular line towards point C, how to calculate if the robot will collide with object A or B as it passes thru the gap

 

[blamocur]

Objects A and B can be considered as 1cm square

But in your drawing the objects are circles -- do you mean 1cm diameter?

 

[lev888]

Hello Blamocur and many thanks for your post.
Objects A and B can be considered as 1cm square and the robot is 20cm square
oblique steering?
If the robot was on a (steering) line perpendicular to the line between object A and B heading towards point C, the width would be distance between A and B
Question is: when steering a non perpendicular line towards point C, how to calculate if the robot will collide with object A or B as it passes thru the gap

I would start with a simplified version of the problem where A and B are just points. Solve it, then replace them with squares, etc.
Draw a diagram. For the robot to clear the gap what must be true? Add those restrictions to the diagram.