  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*
