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A* ALGORITHM BASICS FOR PATH FINDING & HEURISTICS METHODS : ARTIFICIAL INTELLIGENCE

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 A* ALGORITHM BASICS FOR PATH FINDING A* , widely used  known form of best-first search & path planning algorithm nowadays in mobile robots,games. this is the function for A*,                                     f(n) = g(n) + h(n) g ( n ) is the cost of the path from the start node to n , and h ( n ) is a heuristic function that estimates the cost of the cheapest path from n to the goal This will find cheapest f(n) value in neighbor nodes to archive goal node. check below image  A to B path finding with g(n),h(n),f(n) value In the final level check below image Now we will check the Algorithm // A* Search Algorithm 1. Initialize the open list 2. Initialize the closed list put the starting node on the open list (you can leave its f at zero) 3. while the open list is not empty a) find the node with the least f on the open list, call it "q" b) pop q off the open list c) generate q's 8 successors
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Navigating the ROS Filesystem

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For this tutorial we will inspect a package in ros-tutorials, please install it using
       sudo apt-get install ros-<distro>-ros-tutorials

rospack allows you to get information about packages
      rospack find [package_name]

roscd, It allows you to change directory
       roscd [locationname[/subdir]]
 pwd , print the working directory using the Unix command
       pwd 

echo , display the output in terminal
       echo $ROS_PACKAGE_PATH

rosls  It allows you to ls directly in a package by name rather than by absolute path.
        rosls [locationname[/subdir]]

  • rospack = ros + pack(age)
  • roscd = ros + cd
  • rosls = ros + ls 


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