Path Planning for Mobile Robots

Quiz 1: Optimization March 20, 2018 Time Allowed: 15 mins

Name: ___________ Student ID: _________ Section: _________

1. Determine point of extremum of the function 𝑓(𝑥) = 3𝑥 2 + 𝑥 − 4 and find whether this point
is a point of minimum or maximum.
2. Determine the maximum and minimum values of the function:
𝑓(𝑥) = 6𝑥 5 − 22𝑥 4 + 20𝑥 3 + 10.
3. The potential energy U for a system of two rigid bodies connected by three springs is given by
1 2 1
𝑈(𝑥̅ ) = 𝑘2 𝑥12 + 𝑘3 (𝑥2 − 𝑥1 )2 + 𝑘1 𝑥22 − 𝑃𝑥2
8 3 4
where𝑥̅ ≡ (𝑥1 , 𝑥2 ) is the vector of displacements, the spring constants 𝑘1 = 2, 𝑘2 = 4, 𝑘3 =
1 𝑁𝑐𝑚−1 𝑎𝑛𝑑 𝑃 = 4 𝑁. Find the extremum values of displacements and determine if the
potential energy is minimum or maximum at these values.