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 :