Homework - 3
Part 1 - Degree of Freedom = 2
The following robot motions are observed :
The last goal itself hits an obstacle so is unreachable
Part 2 - Degree of Freedom = 5
Goal1
Goal2
Goal3
Goal4
Goal5
Are the line obstacles lines or regions in the graph ?
Answer: The line obstacles are regions in the graph. If we plot the free space and the obstacle space in a graph of theta vs theta we find that the obstacle space is a large region that surrounds the obstacles. It is because the Voronoi diagram has dimension one less than the original space.
Code :