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CS361 - Project 3 2324

The document describes a project to implement the A* search algorithm to solve a path planning problem for a robot navigating between an initial and goal state on a grid map containing obstacles. Students are to formulate the search problem, define data structures, write an A* search function, test it on randomly generated grids of varying obstacle densities, analyze the results, and submit a report including code, explanations, and analysis.

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Bcsf19m002-SADIA UMER
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23 views

CS361 - Project 3 2324

The document describes a project to implement the A* search algorithm to solve a path planning problem for a robot navigating between an initial and goal state on a grid map containing obstacles. Students are to formulate the search problem, define data structures, write an A* search function, test it on randomly generated grids of varying obstacle densities, analyze the results, and submit a report including code, explanations, and analysis.

Uploaded by

Bcsf19m002-SADIA UMER
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Al Imam Mohammad Ibn Saud Islamic University

College of Computer and Information Sciences

Computer Science Department


CS 361: Artificial Intelligence 1445 H, Third semester
Total: 25 Marks (With up to 2 Extra Bonus Marks) Due to: (Submission: 24/5/2024)

• Form a group of 2-3 students, and send your group details (Name in Arabic, academic No., email
address) to Course Instructor before end of 8th week.
• Read and understand the problem stated below.

Project Description:

Path Planning is a fundamental problem in robotics; it consists of to find an optimal free-obstacle path for a robot
from a starting position to a given destination (a goal). There are many approaches to solve this problem, one of
the most common and widely used is the famous A Star search.
The aim of this project is to design and implement the A* searching technique for solving the path planning
problem. Assume that the environment of the robot is represented by a grid map in which the initial and goal
states (current location and the destination) are clearly localized on the map. Some cells of the map contain
obstacles the robot cannot traverse them to reach the goal. The robot can move horizontally, vertically or
diagonally from a cell to another neighbor free cell (the maximum number of reachable neighbor cells with one
transition is 8).
The following figure illustrates the environment of the robot:

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Project Objective:

These steps should be followed:

1. Formulate the search problem by defining the initial state (e.g., (1, 1)), goal state (e.g., (100, 100)), and
the successor function that generates valid neighboring states for a given state. [4 marks] (CLO 2.2)
2. Define an adequate data structure to represent each state during the search process. [2 mark] (CLO 2.2)
3. Define a data structure to represent the list fringe containing unexpanded nodes. [2 mark] (CLO 2.2)
4. Write a java/python function implementing A* to explore the solution space of the searching problem and
find the optimal path. [4 marks] (CLO 2.3)
5. Test your program on randomly generated test problems on grids of size 100x100 and varying the
percentage of obstacles from 10 to 90 by steps of 10. [2 marks] (CLO 2.3)
6. For each type of problem (the number of obstacles is fixed) generate 20 random problem tests. The total
number of runs of your code is 180. [2 marks] (CLO 2.3)
7. Analyze and comment your results. Provide for each type of problem the average time, the worst case, the
best case. Draw a figure summarizing all results. Interpret your results. [4 marks] (CLO 2.3)
8. Deployment: Test your A* implementation in a simulated small-scale environment. Consider using
platforms like MATLAB Robotics System Toolbox
https://www.mathworks.com/discovery/path-planning.html [2 marks] (CLO 2.3)

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9. Project Deliverables: Submit a report via Blackboard before the deadline. The report should include: [3
marks] (CLO 3.1)

‒ Your completed Java/Python code file (.java or .py).


‒ A detailed explanation of your code, addressing each project requirement.
‒ Discussion and analysis of your test results, including the graph.

10. Develop a graphical user interface (GUI) for visualizing the robot's path-planning process Bonus [2
marks]

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