In robotics, a scheme, known as the Minimum Distance Technique (MDT) is used to avoid line obstacles.
MDT involves the calculation of the minimurn distance from the robot to the line segment and the
avoidance of the resultant point on the line segment. Avoidance of the closest point on the line at any time t
C) essentially results in the avoidance of the entire line segment- Consider the Figure 3. Show that