Robot motion planning i

Question 1

Define robot motion planning

Answer 1

The motion of a robot based on sensor values to reach goal positions effectively and reliably

Question 2

Explain path planning

Answer 2

Establishes a path consisting of a sequence of steps.
-requires the existence of a map for navigation
-configuration space representation

Question 3

What are the 2 steps of graph search

Answer 3

-Graph construction
-Graph search

Question 4

What are the different graph construction approaches?

Answer 4

-Visibility graph
-Voroni diagram
-Exact cell decomposition

Question 5

What are the different graph search approaches

Answer 5

-Breadth-first
-Depth-first
-Dijkstra’s algorithm
-A* algorithm
-D* algorithm

Question 6

What are techniques for path planning?

Answer 6

Graph construction techniques
Graph search techniques
Randomised Graph search
Potential field path planning

Question 7

Explain the potential field path planning concept

Answer 7

Create a field or gradient across the mao to direct the robot to the goal.
-The robot is considered to be a point under the influence of the field

Question 8

Give the pros and cons of potential field path planning

Answer 8

-leads to collision free path to goal
-local minima can be an issue (stuck)
-if robot is not a point mass, it is complex