Your assignment is to write a C++ program that will calculate the potential distribution in a

10x10x10 (3d array) environment containing obstacles. It will then find the shortest collision-free path

for a flying robot from any given starting location to the target location.

Your program should read the starting location, the target location, and the obstacle locations

from a text file. It will then calculate the potential distribution, use it to generate the path, and

store the path in another text file.

 

Guideline is attached do only Assignment B

deadline in 30-Nov-2016

 

ELEG206(Introduction to Computer Programming)Ver. 1.01Project Assignment(Fall 2016)1IntroductionThis project assignment consists of two programming assignments. You will find below the detaileddescriptions of the two assignments; as well as the general guidelines, which you need to follow carefully.Failure to follow these guidelines will result in losing marks or even getting a zero in the project.2Assignment AWrite a C++ program that will ask the user to enter a one-variable polynomial of 1 to 10 terms. Thepolynomial has the general formanxn+an-1xn-1+···+a2x2+a1x+a0,where 06n69.Your program will then ask the user whether he wants to evaluate the polynomial or calculate its integral.If the user selects to evaluate the polynomial, then the program should ask for the value ofxand thenevaluate the polynomial. If the user selects to calculate the integral, then the program should ask for thelimitsaandb, and then calculate the integral using thetrapezoidal rule.3Assignment BIn the field of robot navigation, one of the problems of interest is to find the shortest collision-free pathbetween two locations in an environment that contains obstacles. Many algorithms exist to generate thispath, and one of these algorithms is called thepotential field method. In this algorithm, we treat therobot as a positive charge, the obstacles as positive charges, and the target location of the robot as anegative charge. This way, the robot will be influenced by repulsive forces coming from the obstacles,and an attractive force coming from the target (See Fig. 1).To use the potential field method, we set the obstacles at a fixed high potential value, and we set thetarget location at a fixed low potential value. We then generate the potential distribution in all remainingspace using a proper potential function. When this process is complete, we can place the robot anywherein the environment, and by following the steepest descent in potential, it will be able to reach the targetin the shortest time and without hitting the obstacles (See Fig. 2).1