9

A* with Terrain cost and evolutionary algorithms

.

A* with Terrain cost

Evolutionary
Genetic algorithm
Ant colony optimization
Introduction to database system

- Local Optimum
Fitness Function
f(n) = g(n)+h(n)

7
6
Wall

(1,5)

(7,5)

4
3
2
1
1

7
6

(1,5)
f = 7.1
g=1
h =6.1

f = 6.5
g = 1.4
h =5.1
f=6
g=1
h =5

Wall

f = 7.1
g=1
h =6.1

(7,5)

f = 6.5
g = 1.4
h =5.1

3
2
1
1

7
6

(1,5)
f = 7.1
g=1
h =6.1

f = 6.5
g = 1.4
h =5.1

f = 6.5
g = 2.4
h = 4.1

f=6
g=1
h =5

f=6
g=2
h=4

f = 6.5
g = 1.4
h =5.1

f = 6.5
g = 2.4
h = 4.1

Wall

f = 7.1
g=1
h =6.1

(7,5)

3
2
1
1

7
6

f = 7.1
g=1
h =6.1

f = 9.2
g = 3.4
h =5.4

f = 7.9
g = 2.8
h =5.1

f = 6.5
g = 1.4
h =5.1

f = 6.5
g = 2.4
h = 4.1

f=6
g=1
h =5

f=6
g=2
h=4

f = 6.5
g = 1.4
h =5.1

f = 9.6
g = 8.6
h=1

f = 6.5
g = 2.4
h = 4.1

f = 9.4
g = 7.2
h = 2.2

f=9
g = 7.6
h = 1.4

f = 9.6
g = 8.6
h=1

f = 9.2
g = 3.8
h =5.4

f = 7.9
g = 3.4
h =4.5

f=9
g = 6.2
h = 2.8

f = 9.9
g = 7.2
h = 2.2

f=1
g =9
h =2

f = 10.6
g = 4.8
h =5.8

f = 9.4
g = 4.4
h =5

f=9
g = 4.8
h = 4.2

f = 9.4
g = 5.8
h = 3.6

f = 10.8
g = 7.6
h = 3.2

f = 10.9
g = 5.2
h = 5.7

f = 10.8
g = 5.8
h=5

f = 10.7
g = 6.2
h = 4.5

(1,5)
f = 7.1
g=1
h =6.1

1
1

Wall

f = 11
g=9
h =2

(7,5)

A*: f = g + h

g total cost from start

h heuristic

A* with terrain cost: f = g + h

g total cost from start + terrain

cost

h heuristic

terrain

A*
f=g+h
g = total cost from start
h = heuristic

A*
f=g+h
g = total cost from start
h = heuristic

g=1
h=3
f=4
g=1
h=4
f=5

g=1
h=3
f=4

g=1
h=3
f=4
g=1
h=4
f=5

A*
f=g+h
g = total cost from start
h = heuristic
g=2
h=4
f=6

g=2
h=4
f=6

g=1
h=3
f=4

g=2
h=4
f=6

g=1
h=4
f=5

g=1
h=3
f=4

g=1
h=3
f=4

g=2
h=3
f=5

g=1
h=4
f=5

g=2
h=3
f=5

A*
f=g+h
g = total cost from start
h = heuristic

g=3
h=5
f=8

g=3
h=4
f=7

g=3
h=3
f=6

g=3
h=5
f=8

g=2
h=4
f=6

g=3
h=5
f=8

g=2
h=4
f=6

g=1
h=3
f=4

g=3
h=5
f=8

g=2
h=4
f=6

g=1
h=4
f=5

g=1
h=3
f=4

g=1
h=3
f=4

g=2
h=3
f=5

g=1
h=4
f=5

g=2
h=3
f=5

A*
f=g+h
g = total cost from start
h = heuristic

g=4
h=4
f=8

g=4
h=3
f=7

g=4
h=2
f=6

g=3
h=5
f=8

g=3
h=4
f=7

g=3
h=3
f=6

g=4
h=2
f=6

g=3
h=5
f=8

g=2
h=4
f=6

g=3
h=5
f=8

g=2
h=4
f=6

g=1
h=3
f=4

g=1
h=3
f=4

g=3
h=5
f=8

g=2
h=4
f=6

g=1
h=4
f=5

g=1
h=3
f=4

g=2
h=3
f=5

g=1
h=4
f=5

g=2
h=3
f=5

A*
f=g+h
g = total cost from start
h = heuristic

g=5
h=3
f=8

g=5
h=2
f=7

g=5
h=1
f=6

g=4
h=4
f=8

g=4
h=3
f=7

g=4
h=2
f=6

g=5
h=1
f=6

g=3
h=5
f=8

g=3
h=4
f=7

g=3
h=3
f=6

g=4
h=2
f=6

g=5
h=1
f=6

g=3
h=5
f=8

g=2
h=4
f=6

g=3
h=5
f=8

g=2
h=4
f=6

g=1
h=3
f=4

g=1
h=3
f=4

g=1
h=3
f=4

g=2
h=3
f=5

g=3
h=5
f=8

g=2
h=4
f=6

g=1
h=4
f=5

g=1
h=4
f=5

g=2
h=3
f=5

A*
f=g+h
g = total cost from start
h = heuristic

g=5
h=3
f=8

g=5
h=2
f=7

g=5
h=1
f=6

g=4
h=4
f=8

g=4
h=3
f=7

g=4
h=2
f=6

g=5
h=1
f=6

g=3
h=5
f=8

g=3
h=4
f=7

g=3
h=3
f=6

g=4
h=2
f=6

g=5
h=1
f=6

g=3
h=5
f=8

g=2
h=4
f=6

g=3
h=5
f=8

g=2
h=4
f=6

g=1
h=3
f=4

g=1
h=3
f=4

g=1
h=3
f=4

g=2
h=3
f=5

g=3
h=5
f=8

g=2
h=4
f=6

g=1
h=4
f=5

g=1
h=4
f=5

g=2
h=3
f=5

A*: f = g + h

g total cost from start

h heuristic

??

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

3
g=
h=
f=

1
g=
h=
f=

3
g=
h=
f=

1
g=
h=
f=

1
g=
h=
f=

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

3
g=3
h=3
f=6

1
g=1
h=3
f=4

3
g=3
h=3
f=6

1
g=1
h=4
f=5

1
g=1
h=4
f=5

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

5
g=8
h=4
f = 12

3
g=4
h=4
f=8

3
g=3
h=3
f=6

1
g=1
h=3
f=4

3
g=3
h=3
f=6

1
g=2
h=3
f=5

1
g=2
h=4
f=6

1
g=1
h=4
f=5

1
g=1
h=4
f=5

1
g=2
h=4
f=6

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

5
g=8
h=4
f = 12

1
g=3
h=5
f=8

3
g=4
h=4
f=8

3
g=3
h=3
f=6

1
g=1
h=3
f=4

3
g=3
h=3
f=6

1
g=2
h=3
f=5

5
g=7
h=5
f = 12

1
g=2
h=4
f=6

1
g=1
h=4
f=5

1
g=1
h=4
f=5

1
g=2
h=4
f=6

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

1
g=4
h=6
f = 10

1
g=4
h=5
f=9

5
g=8
h=4
f = 12

5
g=8
h=6
f = 14

1
g=3
h=5
f=8

3
g=4
h=4
f=8

3
g=3
h=3
f=6

1
g=1
h=3
f=4

3
g=3
h=3
f=6

1
g=2
h=3
f=5

1
g=4
h=6
f = 10

5
g=7
h=5
f = 12

1
g=2
h=4
f=6

1
g=1
h=4
f=5

1
g=1
h=4
f=5

1
g=2
h=4
f=6

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

1
g=5
h=6
f = 11

1
g=5
h=5
f = 10

1
g=5
h=4
f=9

1
g=4
h=6
f = 10

1
g=4
h=5
f=9

5
g=8
h=4
f = 12

5
g=8
h=6
f = 14

1
g=3
h=5
f=8

3
g=4
h=4
f=8

3
g=3
h=3
f=6

1
g=1
h=3
f=4

3
g=3
h=3
f=6

1
g=2
h=3
f=5

1
g=4
h=6
f = 10

5
g=7
h=5
f = 12

1
g=2
h=4
f=6

1
g=1
h=4
f=5

1
g=1
h=4
f=5

1
g=2
h=4
f=6

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

1
g=6
h=5
f = 11

1
g=6
h=4
f = 10

5
g = 10
h=3
f = 13

1
g=5
h=6
f = 11

1
g=5
h=5
f = 10

1
g=5
h=4
f=9

3
g=8
h=3
f = 11

1
g=4
h=6
f = 10

1
g=4
h=5
f=9

5
g=8
h=4
f = 12

5
g=8
h=6
f = 14

1
g=3
h=5
f=8

3
g=4
h=4
f=8

3
g=3
h=3
f=6

1
g=1
h=3
f=4

3
g=3
h=3
f=6

1
g=2
h=3
f=5

1
g=4
h=6
f = 10

5
g=7
h=5
f = 12

1
g=2
h=4
f=6

1
g=1
h=4
f=5

1
g=1
h=4
f=5

1
g=2
h=4
f=6

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

3
g=9
h=4
f = 13

1
g=7
h=3
f = 10

1
g=6
h=5
f = 11

1
g=6
h=4
f = 10

5
g = 10
h=3
f = 13

1
g=5
h=6
f = 11

1
g=5
h=5
f = 10

1
g=5
h=4
f=9

3
g=8
h=3
f = 11

1
g=4
h=6
f = 10

1
g=4
h=5
f=9

5
g=8
h=4
f = 12

5
g=8
h=6
f = 14

1
g=3
h=5
f=8

3
g=4
h=4
f=8

3
g=3
h=3
f=6

1
g=1
h=3
f=4

3
g=3
h=3
f=6

1
g=2
h=3
f=5

1
g=4
h=6
f = 10

5
g=7
h=5
f = 12

1
g=2
h=4
f=6

1
g=1
h=4
f=5

1
g=1
h=4
f=5

1
g=2
h=4
f=6

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

3
g=9
h=4
f = 13

1
g=7
h=3
f = 10

3
g = 10
h=2
f = 12

1
g=6
h=5
f = 11

1
g=6
h=4
f = 10

5
g = 10
h=3
f = 13

1
g=8
h=2
f = 10

1
g=5
h=6
f = 11

1
g=5
h=5
f = 10

1
g=5
h=4
f=9

3
g=8
h=3
f = 11

1
g=4
h=6
f = 10

1
g=4
h=5
f=9

5
g=8
h=4
f = 12

5
g=8
h=6
f = 14

1
g=3
h=5
f=8

3
g=4
h=4
f=8

3
g=3
h=3
f=6

1
g=1
h=3
f=4

3
g=3
h=3
f=6

1
g=2
h=3
f=5

1
g=4
h=6
f = 10

5
g=7
h=5
f = 12

1
g=2
h=4
f=6

1
g=1
h=4
f=5

1
g=1
h=4
f=5

1
g=2
h=4
f=6

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

3
g=9
h=4
f = 13

1
g=7
h=3
f = 10

3
g = 10
h=2
f = 12

1
g=9
h=1
f = 10

1
g=6
h=5
f = 11

1
g=6
h=4
f = 10

5
g = 10
h=3
f = 13

1
g=8
h=2
f = 10

1
g=9
h=1
f = 10

1
g=5
h=6
f = 11

1
g=5
h=5
f = 10

1
g=5
h=4
f=9

3
g=8
h=3
f = 11

1
g=9
h=2
f = 10

1
g=9
h=1
f = 10

1
g=4
h=6
f = 10

1
g=4
h=5
f=9

5
g=8
h=4
f = 12

5
g=8
h=6
f = 14

1
g=3
h=5
f=8

3
g=4
h=4
f=8

3
g=3
h=3
f=6

1
g=1
h=3
f=4

3
g=3
h=3
f=6

1
g=2
h=3
f=5

1
g=4
h=6
f = 10

5
g=7
h=5
f = 12

1
g=2
h=4
f=6

1
g=1
h=4
f=5

1
g=1
h=4
f=5

1
g=2
h=4
f=6

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

3
g=9
h=4
f = 13

1
g=7
h=3
f = 10

3
g = 10
h=2
f = 12

1
g=9
h=1
f = 10

1
g=6
h=5
f = 11

1
g=6
h=4
f = 10

5
g = 10
h=3
f = 13

1
g=8
h=2
f = 10

1
g=9
h=1
f = 10

1
g=5
h=6
f = 11

1
g=5
h=5
f = 10

1
g=5
h=4
f=9

3
g=8
h=3
f = 11

1
g=9
h=2
f = 10

1
g=9
h=1
f = 10

1
g=4
h=6
f = 10

1
g=4
h=5
f=9

5
g=8
h=4
f = 12

5
g=8
h=6
f = 14

1
g=3
h=5
f=8

3
g=4
h=4
f=8

3
g=3
h=3
f=6

1
g=1
h=3
f=4

3
g=3
h=3
f=6

1
g=2
h=3
f=5

1
g=4
h=6
f = 10

5
g=7
h=5
f = 12

1
g=2
h=4
f=6

1
g=1
h=4
f=5

1
g=1
h=4
f=5

1
g=2
h=4
f=6

A*
f=g+h
g = total cost from start + terrain cost
h = heuristic

Genetic Algorithm

Mendel

(Gene)
(Chromosome)

(Natural Selection)
(Natural Genetics Selection) (String)

Holland, et al., (1975)

2

1.
2.

3. ()

4. Probabilistic Deterministic

Code by SWAPNIL MARATHE

Ant Colony

(Pheromone)

Ant Colony

Ant Colony System (ACS) (Dorigo and Gambardella, 1997)

AS ACS
Ant System
Ant System
1.ACS

2.

3.

Distance

Pheromones

10

15

20

16

16

15

Local Update

0.1

0.1

0.1

0.1

0.1

0.1

0.1

0.1

0.1

0.1

0.1

0.1

Global Update

 4 A, B, C D Genetic algorithm
Population = 4, Maximum literation = 2, %50-Crossover 25%-Mutation
I

II
Distance matrix

A
B
C
D

A
0
20
5
15

B
20
0
16
4

C
5
16
0
6

D
15
4
6
0

 4 A, B, C D Ant colony optimization

q0 0.9, Belta 2, 1 Pheromone
0.1

I
Distance matrix
A
B
C
D

A
0
20
5
15

II

B
20
0
16
4

C
5
16
0
6

Pheromone matrix
D
15
4
6
0

A
B
C
D

A
0

0
0
0