### University of Notre Dame

Aerospace and Mechanical Engineering

### ME 469: Introduction to Robotics

Homework 9

B. Goodwine
Spring, 1999 |
Issued: April 23, 1999
Due: April 28, 1999 |

The purpose of this homework is to investigate the efficacy of the
potential function motion planning algorithm and the wavefront
expansion algorithm motion planning methods. Sample Matlab code
for the potential function approach and
the wavefront approach are available.
Download the two programs and change the geometry and location
of the two objects and add a third object. Using 5 different
combinations of starting and ending points, run the programs to
see if they successfully generate a path from the starting
configuration to the goal configuration. Find at least two cases
that work and two cases that do not work for the potential
function approach. In each case, the trajectory much be such
that the path is altered by the presence of at least two of the
obstacles. Is it the case that the wavefront expansion
*always* works?

*Last updated: April 23, 1999.*

B. Goodwine (*jgoodwin@nd.edu*)