Question $($III$)$ Path Planning

Figure $4$ shows a map with the start point of a robot and the final goal location. Black cells represent obstacles, whereas white cells are freely traversable. The robot and goal locations are marked by $"$R$"$ and $"$G$",$ respectively. Use the A$*$ algorithm to find the best path from "Robot" to "Goal" and clearly list the cells of the map to fill the heap $($Open list$)$ and the Closed list and finally indicate the optimal path. Please write the values of $g(n),h(n)$ and $f(n)$ values in each cell to be expanded.

$4$

$3$

$2$

$1$

Figuic $4.$ A iviap will a nuvur, vustavius ox niv uvar

HEAP $($OPEN LIST$)$

CLOSED LIST

OPTIMAL PATH