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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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Genetic Algorithm Library (GAlib) Compiling Error Fixed(ga.h: No such file or directory) : ARGoS Simulator

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 if you didn't try to setup argos just follow my previous post using below link Getting Started with ARGoS Large-Scale Swarm Robot Simulator in Ubuntu
When you are facing below error while you try to compile argos in your ubuntu system
galib_phototaxis_loop_functions.h:14:20: fatal error: /ga/ga.h: No such file or directory compilation terminated

normally what we do?   we search this lib in google then we try to compile it but here if you download this GALIB lib from its official website from here http://lancet.mit.edu/ga/    its never work correctly because last update of this package 1999 so you guys need to change lots of c++ compiler based commands styles in many files
so download the GALIB from this link  https://github.com/jibsen/galib   
& compile based on that page instruction 
finally  you need to change the  files location in argos examples
follow the steps
go  to /src/argos3-examples/loop_functions/galib_phototaxis_loop_functions/
and choose galib_phototaxis_loop_functions.h 
then check below screenshot

for this GA-related headers change it as below


thats all save it and come back to ~/src/argos3-examples/build/
open the terminal & type make  
then you can test swarm bots foraging or some GA based features using below command
open terminal & go to ~/src/argos3-examples/  
then type argos3 -c experiments/foraging.argos  

Thank you guys 

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  1. Teshan Shanuka JFebruary 8, 2020 at 9:44 PM

    Thank you very much for the article. I am getting this error after everything and running *make*. Any help?

    Scanning dependencies of target galib_phototaxis_loop_functions
    [ 88%] Building CXX object loop_functions/galib_phototaxis_loop_functions/CMakeFiles/galib_phototaxis_loop_functions.dir/galib_phototaxis_loop_functions.cpp.o
    [ 89%] Building CXX object loop_functions/galib_phototaxis_loop_functions/CMakeFiles/galib_phototaxis_loop_functions.dir/galib_phototaxis_loop_functions_automoc.cpp.o
    [ 90%] Linking CXX shared library libgalib_phototaxis_loop_functions.so
    /usr/bin/ld: /usr/local/lib/libga.a(garandom.o): relocation R_X86_64_32 against `.rodata' can not be used when making a shared object; recompile with -fPIC
    /usr/local/lib/libga.a: error adding symbols: Bad value
    collect2: error: ld returned 1 exit status
    loop_functions/galib_phototaxis_loop_functions/CMakeFiles/galib_phototaxis_loop_functions.dir/build.make:122: recipe for target 'loop_functions/galib_phototaxis_loop_functions/libgalib_phototaxis_loop_functions.so' failed
    make[2]: *** [loop_functions/galib_phototaxis_loop_functions/libgalib_phototaxis_loop_functions.so] Error 1
    CMakeFiles/Makefile2:1652: recipe for target 'loop_functions/galib_phototaxis_loop_functions/CMakeFiles/galib_phototaxis_loop_functions.dir/all' failed
    make[1]: *** [loop_functions/galib_phototaxis_loop_functions/CMakeFiles/galib_phototaxis_loop_functions.dir/all] Error 2
    Makefile:83: recipe for target 'all' failed
    make: *** [all] Error 2

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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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