Answer Happy

Question 4: a) Using Figure Q4-1, explain the potential field algorithm for obstacle avoidance. Having the potential fields of Figure Q4-1, how does one calculate the required force to be applied to the robot at each point (x, y)? Utarget () Uobs (8) U (3) all obstacles + II Target Figure Q4-1 Potential fields generated by target and obstacles and the resulting overall field. Figure Q4-2 illustrates the resulting potential fields and required force to be applied to the robot at each point (x,y) to avoid obstacles. Answer the following questions: • What do the contours show and what do the numbers on them mean? • What do the blue vectors show at each point of the map? • What are the black circles in the middle and the green one on the right side of the image? [6 marks] b) In Figure Q4-2, if a robot is initially located at either of the red circles, suggest the paths that the robot will follow towards its destination. Hint: You need to redraw Figure Q4-2 on your answer sheet as an XY diagram with the obstacles and the initial and destination points and then draw the suggested paths. Explain the rationale behind your suggested paths.