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, 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)

Polygon 1: ((220, 616), (220, 666), (251, 670), (272, 647))

Polygon 2: ((341, 655), (359, 667), (374, 651), (366, 577))

Polygon 3: ((311, 530), (311, 559), (339, 578), (361, 560), (361, 528), (336, 516))

Polygon 4: ((105, 628), (151, 670), (180, 629), (156, 577), (113, 587))

Polygon 5: ((118, 517), (245, 517), (245, 577), (118, 557))

Polygon 6: ((280, 583), (333, 583), (333, 665), (280, 665))

Polygon 7: ((252, 594), (290, 562), (264, 538))

Polygon 8: ((198, 635), (217, 574), (182, 574))

Start: (120, 650) End: (380, 560)

Please write in java with A* algorithm

   

G OPEN S. Figure 3.31 A scene with polygonal obstacles. S and G are the start and goal states.