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Route/Path Planning

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Route/Path Planning Materi Kuliah IF3051 Strategi Algoritma Teknik Informatika ITB Oleh: Masayu Leylia Khodra Referensi Materi kuliah IF3054 Inteligensi ... – PowerPoint PPT presentation

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Title: Route/Path Planning


1
Route/Path Planning
  • Materi Kuliah IF3051 Strategi Algoritma
  • Teknik Informatika ITB
  • Oleh Masayu Leylia Khodra

2
Referensi
  • Materi kuliah IF3054 Inteligensi Buatan Teknik
    Informatika ITB, Course Website
  • http//kuliah.itb.ac.id ? STEI ? Teknik
    Informatika ? IF3054
  • Stuart J Russell Peter Norvig, Artificial
    Intelligence A Modern Approach, 3rd Edition,
    Prentice-Hall International, Inc, 2010, Textbook
  • Site http//aima.cs.berkeley.edu/ (2nd edition)
  • Free online course materials MIT OpenCourseWare
    Website Site http//ocw.mit.edu/courses/electric
    al-engineering-and-computer-science/

3
Route Planning
4
Search
Source Russells book
S set of cities i.s A (Arad) g.s B
(Bucharest) Goal test s B ? Path cost time
distance
5
Uninformed Search
6
Breadth-First Search (BFS)
Treat agenda as a queue (FIFO)
O
F
71
S
151
Z
99
211
75
A
80
140
R
B
P
97
101
120
118
Simpul-E Simpul Hidup
A ZA,SA,TA
ZA SA,TA,OAZ
SA TA,OAZ,OAS,FAS,RAS
TA OAZ,OAS,FAS,RAS,LAT
OAZ OAS,FAS,RAS,LAT
OAS FAS,RAS,LAT
FAS RAS,LAT,BASF
RAS LAT,BASF,DASR,CASR,PASR
LAT BASF,DASR,CASR,PASR,MATL
BASF Solusi ketemu
D
138
75
M
146
T
70
L
111
C
Path A? S ? F ? B, Path-cost 450
7
Depth-First Search (DFS)
Treat agenda as a stack (LIFO)
O
F
71
S
151
Z
99
211
75
A
80
140
R
B
P
97
120
101
118
D
75
M
146
138
T
70
L
111
Simpul-E Simpul Hidup
A ZA,SA,TA
ZA OAZ, SA,TA
OAZ SAZO,SA,TA
SAZO FAZOS, RAZOS,SA,TA
FAZOS BAZOSF, RAZOS,SA,TA
BAZOSF Solusi ketemu
C
Path A? Z ? O ? S ? F ? B Path-cost 607
8
IDS
Depth0 A cutoff Depth1 A ? ZA,SA,TA ? ZA
cutoff, SA cutoff, TA cutoff Depth2 A ?
ZA,SA,TA ? OAZ, SA,TA ? OAZ cutoff ? FAS,
RAS,TA ? FAS cutoff ? RAS cutoff ? LAT ? LAT
cutoff Depth3 A ? ZA,SA,TA ? OAZ, SA,TA ?
SAZO,SA,TA ? SAZO cutoff ? FAS, RAS,TA ? BASF,
RAS,TA ? BASF Stop Bgoal, path A? S ? F ? B,
path-cost 450
9
Uniform Cost Search (UCS)
Simpul-E Simpul Hidup
A ZA-75, TA-118, SA-140
ZA-75 TA-118, SA-140,OAZ-146
TA-118 SA-140,OAZ-146,LAT-229
SA-140 OAZ-146,RAS-220, LAT-229,FAS-239,OAS-291
OAZ-146 RAS-220, LAT-229, FAS-239,OAS-291
RAS-220 LAT-229, FAS-239,OAS-291, PASR-317,DASR-340,CASR-366
LAT-229 FAS-239,OAS-291,MATL-299, PASR-317,DASR-340,CASR-366
FAS-239 OAS-291,MATL-299, PASR-317,DASR-340,CASR-366, BASF-450
OAS-291 MATL-299, PASR-317,DASR-340,CASR-366, BASF-450
MATL-299 PASR-317,DASR-340,DATLM-364,CASR-366, BASF-450
PASR-317 DASR-340,DATLM-364,CASR-366, BASRP-418, CASRP-455, BASF-450
DASR-340 DATLM-364,CASR-366, BASRP-418, CASRP-455, BASF-450
DATLM-364 CASR-366, BASRP-418, CASRP-455, BASF-450
CASR-366 BASRP-418, CASRP-455, BASF-450
BASRP-418 Solusi ketemu
  • BFS IDS find path with fewest steps
  • If steps ? cost, this is not relevant (to optimal
    solution)
  • How can we find the shortest path (measured by
    sum of distances along path)?

Path A? S ? R ? P ? B Path-cost 418
10
Informed Search
11
Best-first search
g(n) cost so far to reach n h(n) estimated
cost from n to goal f(n) estimated total cost
of path through n to goal
  • Idea use an evaluation function f(n) for each
    node
  • greedy best-first search f(n) h(n)
  • A search f(n) g(n) h(n)
  • e.g., hSLD(n) straight-line distance from n to
    Bucharest
  • Romania with step costs in km

12
Greedy best-first search example
13
Greedy best-first search example
14
Greedy best-first search example
15
Greedy best-first search example
16
A search example
17
A search example
18
A search example
19
A search example
20
A search example
21
A search example
22
THANK YOU
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