Navigation of robot.(p 114).Consider the problem of finding the shortest path 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. Suppose all positions (x,y) in the plane are known. How many paths are there to the goal?
The shortest path from one polygon vertex to any other in the scene consists of straight-line segments joining some of the vertices of the polygons. .Define the necessary functions to implement the search problem, including function action() 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. Use the straight-line distance for the heuristic function.