A robot is to move to a (x,y) location of (10.6, 12.1). Objects are located at (4.4, 0) and (0, 2.4). The potential field method is to be used to determine instantaneous velocity. For this, use a goal attraction factor of 0.14 multiplied by the distance to the goal and an object repulsion factor of 1/(distance^4). All coordinates are given with respect to the robot's frame of reference in meters. Robots and objects can be considered as point sources.
a) What is the magnitude of the direction vector (give your answer in m/s to 2 decimal places)? Round your answer to 2 decimal places.
3 marks
b) What is the orientation of the direction vector (give your answer in degrees to 1 decimal place, positive rotation is anticlockwise)? Round your answer to 1 decimal place.
That's 1/distance^4.
Round your answer to 2 decimal places.
3 marks
Question 13
A robot is to move to a (x,y) location of (10.6, 12.1). Objects are located at (4.4, 0) and (0, 2.4). The potential field method is to be used to determine instantaneous velocity. For this, use a goal attraction factor of 0.14 multiplied by the distance to the goal and an object repulsion factor of 1/(distance^4). All coordinates are given with respect to the robot's frame of reference in meters. Robots and objects can be considered as point sources.
a) What is the magnitude of the direction vector (give your answer in m/s to 2 decimal places)? Round your answer to 2 decimal places.
3 marks
b) What is the orientation of the direction vector (give your answer in degrees to 1 decimal place, positive rotation is anticlockwise)? Round your answer to 1 decimal place.
3 marks