Question $3$:

$[10]$

Explain the following concepts in the context of robot path planning. Figure $1$ be used for your explanation.

$($a$)$ Path planning;

$($b$)$ The boundary conditions including their physical meaning used to determine the path plan between the two points of A and B $($Fig$.1)$;

$($c$)$ The boundary conditions that are sufficient to determine a fifth order polynomial function for the path between A and B $($Fig$.1).$

$4$ Mo

Figure $1$