Scribd
Upload
23 views

Programming Assignment 5

The assignment requires writing a function that calculates a path for a robot using an artificial potential function approach, considering initial and goal locations as well as obstacles. The robot's initial location is at [0, 0] and the goal is at [10, 10], with two obstacles located at [6, 5] and [5, 5]. The function must simulate the robot's movement while avoiding obstacles in a 2-D environment based on specified equations and parameters.

Uploaded by

Prasad Naidu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
23 views

Programming Assignment 5

The assignment requires writing a function that calculates a path for a robot using an artificial potential function approach, considering initial and goal locations as well as obstacles. The robot's initial location is at [0, 0] and the goal is at [10, 10], with two obstacles located at [6, 5] and [5, 5]. The function must simulate the robot's movement while avoiding obstacles in a 2-D environment based on specified equations and parameters.

Uploaded by

Prasad Naidu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 1

Programming assignment 5

Write down a function that accepts three inputs - robot’s initial location, goal location, and
locations of arbitrary number of obstacles - and provides the path using the artificial potential
function based approach based on algorithm provided on slide 20 of lecture 8 slides. The
attractive and repulsive forces need to be calculated using equations provided on slides 15 and
18. Appropriately tune all parameters to obtain acceptable results. Please assume that path
planning is carried out in configuration space so that robot can be assumed as a point.

Test your algorithm using the following case in 2-D environment.

Robot’s initial location = [0 0]


Goal location=[10 10]
Obstacle 1 location=[6 5]
Obstacle 2 location=[5 5]

The above case is shown by the picture below (robot’s location in red star, obstacles in black
circles, and goal location in blue cross).

20

18

16

14

12

10

0
0 2 4 6 8 10 12 14 16 18 20

Running your code should show a simulation with motion of the robot starting from initial
location and reaching the goal location while avoiding the obstacles.

You might also like