Questions: Motion Planning Algorithms and Path Finding
1 questions to test your understanding
Score: 0 / 1
Question 1 Multiple Choice
A wheeled mobile robot must navigate from one room to another through a doorway. The robot's configuration space includes position (x, y) and orientation θ, making it 3D. The door is 1 meter wide. Which statement about C-space obstacles is correct?
AThe doorway in C-space is also 1 meter wide, because only position matters
BThe doorway in C-space is narrower than 1 meter because the robot's radius must be subtracted, and wider for some orientations if the robot is wider than it is long
CThe doorway is not visible in 3D C-space; it can only be analyzed in 2D by fixing θ to a particular value
DThe doorway in C-space expands to multiple meters wide because rotation freedom adds more configurations
A* elegantly balances exploration and exploitation. Exploring too much (Dijkstra) is wasteful; exploiting the heuristic too greedily (greedy best-first) can miss optimal paths. A* combines g(node) (proven cost from start) with h(node) (estimated cost to goal) so that the first path found is guaranteed optimal if h is admissible. In robotics, spatial heuristics from the C-space metric (Euclidean distance, Manhattan distance) are easy to compute and admissible, making A* the dominant choice for discrete planning.