A2 Exam

Example problems

A polygonal background, including starting, ending and customer positions, can be found in this file polygObst.mat, which can be plotted using plotPolygObst.m. The environment can be seen here map.pdf (the lines connecting start and end points indicate who goes where).

• P1: Use the environment above to solve T3 (ignoring the destinations) using the dynamic point mass (amax=1)
• P2: Use the environment above to solve T5 (ignoring the customers) using the dynamic point mass (amax=1, vehicle shape is disc with radius 5m)
• P3: Use the environment above to solve T3 using the dynamic car (amax=1, phimax=1)
• P4: Use the environment above to solve T5 using the dynamic car (amax=1, phimax=1,vehicle shape is disc with radius 5m)

An empty background, with starting and end positions, can be found in this file polygObst2.mat,

which can be plotted using plotPolygObst2.m. The environment can be seen here polygonalMap2.pdf

(the lines connecting start and end points indicate who goes where).

• P5: Use the environment above to solve T4 using the dynamic point mass (amax=1,vehicle shape is disc with radius 1m)

Two discrete maps, including starting, ending and customer positions, can be found in these files discObst1.mat , discObst2.mat, which can be plotted using plotDiscObst1.m and plotDiscObst2.m. The corresponding maps can be seen here map1.pdf, map2.pdf.

• P6: Use the environment in discObst1.mat to solve T1 
• P7: Use the environment in discObst1.mat to solve T2
• P8: Use the environment in discObst2.mat to solve T1
• P9: Use the environment in discObst2.mat to solve T2