2. A mobile robot is navigating through a room with a point obstacle and a point goal, using a potential function. The p

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2 A Mobile Robot Is Navigating Through A Room With A Point Obstacle And A Point Goal Using A Potential Function The P 1 (55.66 KiB) Viewed 36 times

2. A mobile robot is navigating through a room with a point obstacle and a point goal, using a potential function. The positions are defined as follows: Robot start: (2, 1) Goal goal: (5, 6) Obstacle qobs: (4,4) The attractive potential is U,(q) (q9goal)², and the repulsive potential is Uobs (q) = 1/(q-qobs)2. The total potential is given by U(q) = U₂(q) + XUobs (q). Let X = 1. = (a) By taking the negative gradient of the function U(q), compute the force on the robot at its start location. (4) (b) If the robot can move a distance of 1 in any direction, where would it be after taking one step using the potential function? (2) 4
(c) What is the effect of setting λ = 2? (1)