A Star Search

* Create an offline tool to generate navigation lookup table using A* Search algorithm * Deploy and employ the lookup table to move the robot around the map ## Deliverables In this project, you are to do the following: •? Build a standalone, offline C++ program to read in the provided way-marker data and construct a set of navigation lookup tables for hierarchical pathfinding; i.e. You need to construct both the inter-region and intra-region lookup tables. You should make use of A* search in finding the best path between way-markers in your generator program. Your program should output a data file comprising of the way-markers positions and the navigation tables to be used by the Ogre application. •? Modify/ build upon the provided template program to read in your way-marker lookup tables and store them in appropriate data structures for easy retrieval/ lookup. •? Allow the robot to navigate the game level without colliding with obstacles by making use of your navigation tables. i.e. When the user left-click on a way-marker, the robot logic should determine the best path to the selected way-marker and move there. •? When the user clicks on another way-marker while the robot is moving to a destination way-marker, you should dynamically update the robots destination and re-find the best path to this new destination. The robot should then start moving to the new destination. •? Animate and orientate the robot correctly while moving from way-marker to way-marker.? You are provided with a template program which does several things: •? It reads in from the provided [login to view URL] data file and constructs and positions the way-markers appropriately on the map. These way markers can be turned on (I) and off (O). They are turned on by default.? •? It allows you to select a way-marker using the left-mouse-button, after which the robot will proceed directly to the selected way-marker’s position. You will need to make the robot navigate around obstacles in the game world. •? Basic robot logic FSM. Animation and orientation of the robot are NOT provided. You will have to implement this as part of this assignment.