Question L5-C2

The question is about the choice of algorithm for global path planning of a robot traversing an empty and deserted room, with some obstacles in it. On the right there is an illustration of the mapping of the room, with the three pillars that have a square or triangular cross-section. The question is: "You have an application where your robot needs to navigate in an empty and deserted room with 3 pillars, as in the plan on the right. What approach of path planning would you choose to get an optimal path?". Three possibilities are proposed:

Answer A. "Potential field, as in this case the obstacles cannot generate local minima.". This answer is wrong, as potential field is not ensuring an optimal path.
In the explanation of the student we would like to see that they understand that potential field is not ensuring optimal path.

Answer B. "Voronoi diagrams, displacement at the center of the cells to create the graph, then graph search by A*.". This answer is wrong, as this will generate path passing in the middle of the free space, creating a path that is not optimal.
In the explanation of the student we would like to see that they understand that the appraoch using Voronoi diagrams is far from optimal.

Answer C. "Visibility graphs and dijkstra path search." This answer is correct, as it is the only creating a path that is optimal.
In the explanation of the student we would like to see that they understand that a visibility graph associated with dijkstra allows to generate optimal paths, what a potential field or voronoi-based approach cannot do.
