MT 461 - Path Planning for Mobile Robots Fall 2019

Individual Assignment 2

Class: F-17 – A

Question 1
At time ′𝑡′ a mobile robot is at 𝑅𝑐 and has to reach a target position 𝑅𝑇 while maneuvering an obstacle
at 𝑅𝑂, the step size of the robot for a unit time step is fixed at 0.5cm. Due to a system failure, the glide
phase of the program is not available, therefore, the robot must utilize the maneuver phase to reach
the target. In order to take the next step at time 𝑡 + 𝑑𝑡, generate 10 artificial points, first, equally
spaced and then randomly spaced and calculate cost functions and decide next coordinates for the
mobile robot to move.

Point X(cm) Y(cm)

𝑅𝑐 2 3
𝑅𝑜 4 4
𝑅𝑇 6 5
Given that 𝛼0 = 1, 𝜇0 = 0.5 and 𝛼𝑇 = 5, 𝜇𝑇 = 0.1, and 𝐽 = ±𝛼𝑒−𝜇(𝑟−𝑟0)2. Compare and comment on your
results from both approaches.

Solution:
 ------------------------------------------

Matlab code:
Question 2
Sketch the obstacle for 𝛼 and 𝜇 specified in question 1. What change will occur if these parameters
are:
i. Increased 100% ii.
Reduced 50%
Show the change through sketching and comment.
Solution:
2.