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Reg. No. | LE]
Question Paper Code : 21555
B.E/B.Tech. DEGREE EXAMINATIONS, NOVEMBER/DECEMBER 2023.
Fifth Semester
Robotics and Automation
RA 3501 - ROBOT PATH PLANNING AND PROGRAMMING
Regulations 2021)
‘Time : Three hours Maximum : 100 marks
Boe om
o
10.
i.
Answer ALL questions.
PART A —(10 x 2=20 marks)
Is trajectory planning different from jnotion planning? Justify your answer.
Differentiate Cartesian space scheme from joint space scheme.
Why is cubic function preferred in path planning?
List the three steps involved in trajectory planning,
What is the difference between workspace and configuration space?
Consider exact cell decomposition. What is the worst-case and best-case
number of nodes that may be created when using this method as a function of
the number of convex polygons and the number of sides of each polygon?
List down the different types of path planning algorithms.
Compare A* with D* algorithm.
Mlustrate with an example the use of interlocking commands.
What is ROS-industrial?
PART B — (6 x 13 = G5 marks)
(2) How is workspace analysis carried out for any kind of robot? With neat
sketches explain the work envelope of a (i) Cartesian (7)
(i) Polarfspherical robot. ©
Or
(©) Explain on the problem of obtaining cubic polynomial trajectory for a
point to point motion considering suitable example. 12, (a)
)
13. @)
&)
14. (a)
)
15. (@)
0)
rest positions with initial and
degrees respectively.
Create the visibility graph a
Manhattan distance or the
environment
fields.
What type of algorithms are by
Bug algorithms with examp
Demonstrate the application offs
using an example,
With a suitable example
implemented in ROS.
Explain the va,
ows x
and disadvantages, Ot P
ges, PART C—(] x 15 = 15 marks)
a quad tree for the following environment.
g
if
() Explain how A* search a
gorithm is used for path planning.
Generate a path for the cat tareach the food in the environment
modeled in Fig below using A* search algorithm. Show the steps involved
in determining the path.
21555
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