Homework #2
Due: Feb. 17, 2005.
Implement a gradient descent potential field planner for a polygonal
robot moving (both translation and rotation) in the plane.
Your planner should use the Jacobian matrix of the forward kinematic
map to transform forces in the workspace to appropriate forces and
moments.
On your web page, show at least two movies - one that illustrates a
successful planning episode, and one that fails due to local minima.
Include on your web page a brief description (pdf file or html --- not MSWord)
of your approach.
This report should include all relevant equations and algorithm descriptions,
along with a description of any parameters used by your algorithm.