CS 6613 all 2024 Project 1: Robot Path Planning
- K. WongTotal # points = 100.
Project Description: Implement the A* search algorithm with graph search (no repeated states)for the robot path planning problem as described below. The inputs to your program are the startand goal positions of a point robot, and a 2D integer array that represents the robot workspace. Therobot can move from cell to cell in any of the eight directions as shown in Figure 2. The goal is tofind the lowest-cost path between the start position and the goal position, and avoiding obstaclesalong the path. The workspace is represented as an occupancy grid as shown in Figure 1, where theblack cells represent obstacles. The red line in the figure depicts a pathfrom the start position tothe goal position. (Note: the path in the figure is not the lowest-cost path as required in our project.)Formulation: The problem can be formulated in the following way. Each cell in the workspace isa state. The white cells are legal states and the black cells are illegal states. The actions are theeight moves as defined in Figure 2. The step cost for the actions is the sum of the angle cost andthe distance cost; i.e.,
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