Page 294 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World

EXERCISES 269

below, show in this plane the outline of the sensing field(s) for each point.
The points (θ 1 ,θ 2 ) to check are, respectively:

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(90 , 0 ), (90 , 45 ), (90 , 90 ), (30 , 150 ), (30 , 135 ), (30 , 90 )
3. Come up with an example of sensor-based motion planning for the pris-
matic–prismatic (PP) arm manipulator algorithm (Section 5.4). The scene in
the example shall feature nonconvex shapes of the arm link l 2 and of obstacles
in the workspace. Compare the results with the example in Figure 5.23.
4. Modify the sensor-based motion planning algorithm for the PP arm
(Section 5.4), so as to incorporate in it a possibility of the rear end of link
l 2 to collide with obstacles. Connect this modification with the test for tar-
get reachability, and show that the modified algorithm converges. Provide an
example where the arm goes through a local cycle.