Assignment 2

Sayan Basu Roy (sayan@iiitd.ac.in)

October 31, 2023

Question 1.

Consider a configuration space given in Figure 1. The start and goal positions are (1, 1) and (20, 20) respectively. The
obstacles are considered as the circular objects represented by center position and radius (r) as given below:

• (1) Obstacle 1 → Center- (4.5, 3), r = 2.

• (2) Obstacle 2 → Center- (3, 12), r = 2.
• (3) Obstacle 3 → Center- (15, 15), r = 3.

30
Start
Goal
Obstacle 1
25 Obstacle 2
Obstacle 3

20

15

10

0
0 5 10 15 20 25 30

Figure 1: Configuration Space

Write a code for following path planning algorithms

• (a) Bidirectional RRT (Choose δ of the order of the obstacle dimension).

• (b) Artificial potential field (For the attractive potential try with both paraboloidic and conical. Choose other
required parameters suitably.) Provide a surface plot for both the total potential (attractive+repulsive) in both
cases (paraboloidic and conical).
(Note that you have to use a continuous-time or a discrete-time gradient descent of the chosen potential.)
You have to submit the codes (in any programming language of your choice). Also the surface plots of [art (b)
in a pdf file. (During evaluation, you have to run the code and generate the path. .)