Convex Polygonal Obstacles - Shortest Path Algorithm - IT Assignment Help

Assignment Task:

Write a program to solve the following problem.

Question 1. Consider the problem of finding the shortest path (e.g., using A* algorithm) between two points on a plane that has convex polygonal obstacles. This is an idealization of the problem that a robot has to solve to navigate in a crowded environment.

Question 2. Define the necessary functions to implement the search problem, including an ACTIONS function that takes a vertex as input and returns a set of vectors, each of which maps the current vertex to one of the vertices that can be reached in a straight line. (Do not forget the neighbours on the same polygon.) Use the straight-line distance for the heuristic function.

Question 3. Write a program (language no bar) to solve the shortest pathfinding problem for such an environment.

• Input: an environment like the one shown in Fig. 3.31 in your textbook, a start, and a goal location.
• Output: the shortest path that the robot has to follow to reach from the start to the goal (Shown visually on screen). 

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