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system is qs is at at (0,0) and final configuration af is at (8,6). Vertices of obstacle 1 are: (1 : (1,0), 2 : (2,0),3 : (2,1), 4 : (1,1)) and Vertices for obstacle 2 are: (5 : (5,5), 6 :

system is qs is at at (0,0) and final configuration af is at (8,6). Vertices of obstacle 1 are: (1 : (1,0), 2 : (2,0),3 : (2,1), 4 : (1,1)) and Vertices for obstacle 2 are: (5 : (5,5), 6 :

Principles of Heat Transfer (Activate Learning with these NEW titles from Engineering!)
Principles of Heat Transfer (Activate Learning with these NEW titles from Engineering!)
8th Edition
ISBN:9781305387102
Author:Kreith, Frank; Manglik, Raj M.
Publisher:Kreith, Frank; Manglik, Raj M.
Chapter4: Numerical Analysis Of Heat Conduction
Section: Chapter Questions
Problem 4.6P
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A point-like robotic system is located in a 2D workspace containing two obstacles. The start configuration of the robotic system is qs is at at (0,0) and final configuration af is at (8,6). Vertices of obstacle 1 are: (1 : (1,0), 2 : (2,0),3 : (2,1), 4 : (1,1)) and Vertices for obstacle 2 are: (5 : (5,5), 6 : (6,5), 7 : (6,6), 8 : (5,6). Here, (i : (a,b) denotes coordinates of node i are (a,b). Set up the appropriate potential field for path-planning. Take radius of influence po as 1.
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