TEE304 Control and Signal Processing

Assignment 4 – Trajectory Planning and Motion Planning

Distributed on: 19/06/2023 Deadline for Submission: 30/06/2023
Copied answers will get zero marks. Mention all the references you have used at the end of
the document.
1. A robot and an obstacle is given in Fig. 1. Sketch the configuration space for the given robot
using Minkowsi sum method.

Obstacle
1

Obstacle 2

Robot

2. A robot and an obstacle is given in Fig. 2. Sketch the configuration space for the given robot
using Minkowsi sum method.

Robot
3. A configuration space is of a robot is given in Fig. 3.
a. Use the trapezoidal cell decomposition method to find the road map of the robot.
b. Sketch the breadth-first search algorithm to find the shortest path that robot can approach
to the destination point from the starting point (You can assume the length of each edge of
the road map is same).
c. Mark the shortest path on the road map.

Destination

Start
4. A configuration space is of a robot is given in Fig. 4.
d. Use the trapezoidal cell decomposition method to find the road map of the robot.
e. Sketch the breadth-first search algorithm to find the shortest path that robot can approach
to the destination point from the starting point (You can assume the length of each edge of
the road map is same).
f. Mark the shortest path on the road map.

Destination

Start