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 ปดาห   9 A* with Terrain cost and evolutionary algorithms .เทพฤทธ    ส นธ ารงร กษ  เร ยบเร ยง

Artificial Intelligence (AI)_9

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Artificial Intelligence (AI)

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  • 9 A* with Terrain cost and evolutionary algorithms

    .

  • A* with Terrain cost

    Evolutionary

    Genetic algorithm

    Ant colony optimization

    Introduction to database system

  • - Local Optimum Fitness Function

    f(n) = g(n)+h(n)

  • 1

    2

  • Wall (1,5) (7,5)

    7

    6

    5

    4

    3

    2

    1

    1 2 3 4 5 6 7

  • Wall

    f = 7.1 g = 1 h =6.1

    f = 6.5 g = 1.4 h =5.1

    (1,5) f = 6 g = 1 h =5

    (7,5)

    f = 7.1 g = 1 h =6.1

    f = 6.5 g = 1.4 h =5.1

    7

    6

    5

    4

    3

    2

    1 1 2 3 4 5 6 7

  • Wall

    f = 7.1 g = 1 h =6.1

    f = 6.5 g = 1.4 h =5.1

    f = 6.5 g = 2.4 h = 4.1

    (1,5) f = 6 g = 1 h =5

    f = 6 g = 2 h = 4

    (7,5)

    f = 7.1 g = 1 h =6.1

    f = 6.5 g = 1.4 h =5.1

    f = 6.5 g = 2.4 h = 4.1

    1 2 3 4 5 6 7

    7

    6

    5

    4

    3

    2

    1

  • f = 9.2 g = 3.4 h =5.4

    f = 7.9 g = 2.8 h =5.1

    Wall

    f = 7.1 g = 1 h =6.1

    f = 6.5 g = 1.4 h =5.1

    f = 6.5 g = 2.4 h = 4.1

    (1,5) f = 6 g = 1 h =5

    f = 6 g = 2 h = 4

    f = 11 g = 9 h =2

    f = 9.6 g = 8.6 h = 1

    (7,5)

    f = 7.1 g = 1 h =6.1

    f = 6.5 g = 1.4 h =5.1

    f = 6.5 g = 2.4 h = 4.1

    f = 9.4 g = 7.2 h = 2.2

    f = 9 g = 7.6 h = 1.4

    f = 9.6 g = 8.6 h = 1

    f = 9.2 g = 3.8 h =5.4

    f = 7.9 g = 3.4 h =4.5

    f = 9 g = 6.2 h = 2.8

    f = 9.9 g = 7.2 h = 2.2

    f = 1 g =9 h =2

    f = 10.6 g = 4.8 h =5.8

    f = 9.4 g = 4.4 h =5

    f = 9 g = 4.8 h = 4.2

    f = 9.4 g = 5.8 h = 3.6

    f = 10.8 g = 7.6 h = 3.2

    f = 10.9 g = 5.2 h = 5.7

    f = 10.8 g = 5.8 h = 5

    f = 10.7 g = 6.2 h = 4.5

    1 2 3 4 5 6 7

    7

    6

    5

    4

    3

    2

    1

  • A*: f = g + h

    g total cost from start

    h heuristic

    A* with terrain cost: f = g + h

    g total cost from start + terrain cost

    h heuristic

    terrain

  • A* f = g + h

    g = total cost from start

    h = heuristic

  • A* f = g + h

    g = total cost from start

    h = heuristic

    g = 1 h = 3 f = 4

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 1 h = 4 f = 5

    g = 1

    h = 4

    f = 5

  • A* f = g + h

    g = total cost from start

    h = heuristic

    g = 2 h = 4 f = 6

    g = 2

    h = 4

    f = 6

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 2

    h = 3

    f = 5

    g = 2

    h = 4

    f = 6

    g = 1 h = 4 f = 5

    g = 1 h = 4 f = 5

    g = 2

    h = 3

    f = 5

  • A* f = g + h

    g = total cost from start

    h = heuristic

    g = 3

    h = 5

    f = 8

    g = 3

    h = 4

    f = 7

    g = 3

    h = 3

    f = 6

    g = 3

    h = 5

    f = 8

    g = 2 h = 4 f = 6

    g = 3

    h = 5

    f = 8

    g = 2 h = 4 f = 6

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 2

    h = 3

    f = 5

    g = 3 h = 5 f = 8

    g = 2 h = 4 f = 6

    g = 1

    h = 4

    f = 5

    g = 1

    h = 4

    f = 5

    g = 2

    h = 3

    f = 5

  • A* f = g + h

    g = total cost from start

    h = heuristic

    g = 4 h = 4 f = 8

    g = 4

    h = 3

    f = 7

    g = 4

    h = 2

    f = 6

    g = 3

    h = 5

    f = 8

    g = 3

    h = 4

    f = 7

    g = 3

    h = 3

    f = 6

    g = 4

    h = 2

    f = 6

    g = 3 h = 5 f = 8

    g = 2

    h = 4

    f = 6

    g = 3 h = 5 f = 8

    g = 2

    h = 4

    f = 6

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 2

    h = 3

    f = 5

    g = 3

    h = 5

    f = 8

    g = 2

    h = 4

    f = 6

    g = 1

    h = 4

    f = 5

    g = 1

    h = 4

    f = 5

    g = 2

    h = 3

    f = 5

  • A* f = g + h

    g = total cost from start

    h = heuristic

    g = 5

    h = 3

    f = 8

    g = 5

    h = 2

    f = 7

    g = 5

    h = 1

    f = 6

    g = 4

    h = 4

    f = 8

    g = 4

    h = 3

    f = 7

    g = 4

    h = 2

    f = 6

    g = 5

    h = 1

    f = 6

    g = 3

    h = 5

    f = 8

    g = 3

    h = 4

    f = 7

    g = 3

    h = 3

    f = 6

    g = 4

    h = 2

    f = 6

    g = 5

    h = 1

    f = 6

    g = 3

    h = 5

    f = 8

    g = 2

    h = 4

    f = 6

    g = 3

    h = 5

    f = 8

    g = 2

    h = 4

    f = 6

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 2

    h = 3

    f = 5

    g = 3

    h = 5

    f = 8

    g = 2

    h = 4

    f = 6

    g = 1

    h = 4

    f = 5

    g = 1 h = 4 f = 5

    g = 2

    h = 3

    f = 5

  • A* f = g + h

    g = total cost from start

    h = heuristic

    g = 5

    h = 3

    f = 8

    g = 5

    h = 2

    f = 7

    g = 5

    h = 1

    f = 6

    g = 4

    h = 4

    f = 8

    g = 4

    h = 3

    f = 7

    g = 4

    h = 2

    f = 6

    g = 5

    h = 1

    f = 6

    g = 3

    h = 5

    f = 8

    g = 3

    h = 4

    f = 7

    g = 3

    h = 3

    f = 6

    g = 4

    h = 2

    f = 6

    g = 5

    h = 1

    f = 6

    g = 3

    h = 5

    f = 8

    g = 2

    h = 4

    f = 6

    g = 3

    h = 5

    f = 8

    g = 2

    h = 4

    f = 6

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 1

    h = 3

    f = 4

    g = 2

    h = 3

    f = 5

    g = 3

    h = 5

    f = 8

    g = 2

    h = 4

    f = 6

    g = 1

    h = 4

    f = 5

    g = 1

    h = 4

    f = 5

    g = 2

    h = 3

    f = 5

  • A*: f = g + h

    g total cost from start

    h heuristic

    ??

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3

    1 3 1 1 5

    1 1 5 1 1 1

    1

    1 1 3 1 1 1 3

    1

    1 5

    5

    1 3 3 1 3 1

    1

    5 1 1 1 1

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3

    1 3 1 1 5

    1 1 5 1 1 1

    1

    1 1 3 1 1 1 3

    1

    1 5

    5

    1 3 3 g =

    h =

    f =

    1 g =

    h =

    f =

    3 g =

    h =

    f =

    1

    1

    5 1 1 g =

    h =

    f =

    1 g =

    h =

    f =

    1

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3

    1 3 1 1 5

    1 1 5 1 1 1

    1

    1 1 3 1 1 1 3

    1

    1 5

    5

    1 3 3 g = 3

    h = 3

    f = 6

    1 g = 1

    h = 3

    f = 4

    3 g = 3

    h = 3

    f = 6

    1

    1

    5 1 1 g = 1

    h = 4

    f = 5

    1 g = 1

    h = 4

    f = 5

    1

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3

    1 3 1 1 5

    1 1 5 1 1 1

    1

    1 1 3 1 1 1 3

    1

    1 5 g = 8

    h = 4

    f = 12

    5

    1 3 g = 4

    h = 4

    f = 8

    3 g = 3

    h = 3

    f = 6

    1 g = 1

    h = 3

    f = 4

    3 g = 3

    h = 3

    f = 6

    1 g = 2

    h = 3

    f = 5

    1

    5 1 g = 2

    h = 4

    f = 6

    1 g = 1

    h = 4

    f = 5

    1 g = 1

    h = 4

    f = 5

    1 g = 2

    h = 4

    f = 6

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3

    1 3 1 1 5

    1 1 5 1 1 1

    1

    1 1 3 1 1 1 3

    1

    1

    5 g = 8

    h = 4

    f = 12

    5

    1 g = 3

    h = 5

    f = 8

    3 g = 4

    h = 4

    f = 8

    3 g = 3

    h = 3

    f = 6

    1 g = 1

    h = 3

    f = 4

    3 g = 3

    h = 3

    f = 6

    1 g = 2

    h = 3

    f = 5

    1

    5 g = 7

    h = 5

    f = 12

    1 g = 2

    h = 4

    f = 6

    1 g = 1

    h = 4

    f = 5

    1 g = 1

    h = 4

    f = 5

    1 g = 2

    h = 4

    f = 6

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3

    1 3 1 1 5

    1 1 5 1 1 1

    1

    1 1 3 1 1 1 3

    1 g = 4

    h = 6

    f = 10

    1 g = 4

    h = 5

    f = 9

    5 g = 8

    h = 4

    f = 12

    5 g = 8

    h = 6

    f = 14

    1 g = 3

    h = 5

    f = 8

    3 g = 4

    h = 4

    f = 8

    3 g = 3

    h = 3

    f = 6

    1 g = 1

    h = 3

    f = 4

    3 g = 3

    h = 3

    f = 6

    1 g = 2

    h = 3

    f = 5

    1 g = 4

    h = 6

    f = 10

    5 g = 7

    h = 5

    f = 12

    1 g = 2

    h = 4

    f = 6

    1 g = 1

    h = 4

    f = 5

    1 g = 1

    h = 4

    f = 5

    1 g = 2

    h = 4

    f = 6

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3

    1 3 1 1 5

    1 1 5 1 1 1

    1 g = 5

    h = 6

    f = 11

    1 g = 5

    h = 5

    f = 10

    1 g = 5

    h = 4

    f = 9

    3 1 1 1 3

    1 g = 4

    h = 6

    f = 10

    1 g = 4

    h = 5

    f = 9

    5 g = 8

    h = 4

    f = 12

    5 g = 8

    h = 6

    f = 14

    1 g = 3

    h = 5

    f = 8

    3 g = 4

    h = 4

    f = 8

    3 g = 3

    h = 3

    f = 6

    1 g = 1

    h = 3

    f = 4

    3 g = 3

    h = 3

    f = 6

    1 g = 2

    h = 3

    f = 5

    1 g = 4

    h = 6

    f = 10

    5 g = 7

    h = 5

    f = 12

    1 g = 2

    h = 4

    f = 6

    1 g = 1

    h = 4

    f = 5

    1 g = 1

    h = 4

    f = 5

    1 g = 2

    h = 4

    f = 6

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3

    1 3 1 1 5

    1 g = 6

    h = 5

    f = 11

    1 g = 6

    h = 4

    f = 10

    5 g = 10

    h = 3

    f = 13

    1 1 1

    1 g = 5

    h = 6

    f = 11

    1 g = 5

    h = 5

    f = 10

    1 g = 5

    h = 4

    f = 9

    3 g = 8

    h = 3

    f = 11

    1 1 1 3

    1 g = 4

    h = 6

    f = 10

    1 g = 4

    h = 5

    f = 9

    5 g = 8

    h = 4

    f = 12

    5 g = 8

    h = 6

    f = 14

    1 g = 3

    h = 5

    f = 8

    3 g = 4

    h = 4

    f = 8

    3 g = 3

    h = 3

    f = 6

    1 g = 1

    h = 3

    f = 4

    3 g = 3

    h = 3

    f = 6

    1 g = 2

    h = 3

    f = 5

    1 g = 4

    h = 6

    f = 10

    5 g = 7

    h = 5

    f = 12

    1 g = 2

    h = 4

    f = 6

    1 g = 1

    h = 4

    f = 5

    1 g = 1

    h = 4

    f = 5

    1 g = 2

    h = 4

    f = 6

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3 g = 9

    h = 4

    f = 13

    1 g = 7

    h = 3

    f = 10

    3 1 1 5

    1 g = 6

    h = 5

    f = 11

    1 g = 6

    h = 4

    f = 10

    5 g = 10

    h = 3

    f = 13

    1 1 1

    1 g = 5

    h = 6

    f = 11

    1 g = 5

    h = 5

    f = 10

    1 g = 5

    h = 4

    f = 9

    3 g = 8

    h = 3

    f = 11

    1 1 1 3

    1 g = 4

    h = 6

    f = 10

    1 g = 4

    h = 5

    f = 9

    5 g = 8

    h = 4

    f = 12

    5 g = 8

    h = 6

    f = 14

    1 g = 3

    h = 5

    f = 8

    3 g = 4

    h = 4

    f = 8

    3 g = 3

    h = 3

    f = 6

    1 g = 1

    h = 3

    f = 4

    3 g = 3

    h = 3

    f = 6

    1 g = 2

    h = 3

    f = 5

    1 g = 4

    h = 6

    f = 10

    5 g = 7

    h = 5

    f = 12

    1 g = 2

    h = 4

    f = 6

    1 g = 1

    h = 4

    f = 5

    1 g = 1

    h = 4

    f = 5

    1 g = 2

    h = 4

    f = 6

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3 g = 9

    h = 4

    f = 13

    1 g = 7

    h = 3

    f = 10

    3 g = 10

    h = 2

    f = 12

    1 1 5

    1 g = 6

    h = 5

    f = 11

    1 g = 6

    h = 4

    f = 10

    5 g = 10

    h = 3

    f = 13

    1 g = 8

    h = 2

    f = 10

    1 1

    1 g = 5

    h = 6

    f = 11

    1 g = 5

    h = 5

    f = 10

    1 g = 5

    h = 4

    f = 9

    3 g = 8

    h = 3

    f = 11

    1 1 1 3

    1 g = 4

    h = 6

    f = 10

    1 g = 4

    h = 5

    f = 9

    5 g = 8

    h = 4

    f = 12

    5 g = 8

    h = 6

    f = 14

    1 g = 3

    h = 5

    f = 8

    3 g = 4

    h = 4

    f = 8

    3 g = 3

    h = 3

    f = 6

    1 g = 1

    h = 3

    f = 4

    3 g = 3

    h = 3

    f = 6

    1 g = 2

    h = 3

    f = 5

    1 g = 4

    h = 6

    f = 10

    5 g = 7

    h = 5

    f = 12

    1 g = 2

    h = 4

    f = 6

    1 g = 1

    h = 4

    f = 5

    1 g = 1

    h = 4

    f = 5

    1 g = 2

    h = 4

    f = 6

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3 g = 9

    h = 4

    f = 13

    1 g = 7

    h = 3

    f = 10

    3 g = 10

    h = 2

    f = 12

    1 g = 9

    h = 1

    f = 10

    1 5

    1 g = 6

    h = 5

    f = 11

    1 g = 6

    h = 4

    f = 10

    5 g = 10

    h = 3

    f = 13

    1 g = 8

    h = 2

    f = 10

    1 g = 9

    h = 1

    f = 10

    1

    1 g = 5

    h = 6

    f = 11

    1 g = 5

    h = 5

    f = 10

    1 g = 5

    h = 4

    f = 9

    3 g = 8

    h = 3

    f = 11

    1 g = 9

    h = 2

    f = 10

    1 g = 9

    h = 1

    f = 10

    1 3

    1 g = 4

    h = 6

    f = 10

    1 g = 4

    h = 5

    f = 9

    5 g = 8

    h = 4

    f = 12

    5 g = 8

    h = 6

    f = 14

    1 g = 3

    h = 5

    f = 8

    3 g = 4

    h = 4

    f = 8

    3 g = 3

    h = 3

    f = 6

    1 g = 1

    h = 3

    f = 4

    3 g = 3

    h = 3

    f = 6

    1 g = 2

    h = 3

    f = 5

    1 g = 4

    h = 6

    f = 10

    5 g = 7

    h = 5

    f = 12

    1 g = 2

    h = 4

    f = 6

    1 g = 1

    h = 4

    f = 5

    1 g = 1

    h = 4

    f = 5

    1 g = 2

    h = 4

    f = 6

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

    3 g = 9

    h = 4

    f = 13

    1 g = 7

    h = 3

    f = 10

    3 g = 10

    h = 2

    f = 12

    1 g = 9

    h = 1

    f = 10

    1 5

    1 g = 6

    h = 5

    f = 11

    1 g = 6

    h = 4

    f = 10

    5 g = 10

    h = 3

    f = 13

    1 g = 8

    h = 2

    f = 10

    1 g = 9

    h = 1

    f = 10

    1

    1 g = 5

    h = 6

    f = 11

    1 g = 5

    h = 5

    f = 10

    1 g = 5

    h = 4

    f = 9

    3 g = 8

    h = 3

    f = 11

    1 g = 9

    h = 2

    f = 10

    1 g = 9

    h = 1

    f = 10

    1 3

    1 g = 4

    h = 6

    f = 10

    1 g = 4

    h = 5

    f = 9

    5 g = 8

    h = 4

    f = 12

    5 g = 8

    h = 6

    f = 14

    1 g = 3

    h = 5

    f = 8

    3 g = 4

    h = 4

    f = 8

    3 g = 3

    h = 3

    f = 6

    1 g = 1

    h = 3

    f = 4

    3 g = 3

    h = 3

    f = 6

    1 g = 2

    h = 3

    f = 5

    1 g = 4

    h = 6

    f = 10

    5 g = 7

    h = 5

    f = 12

    1 g = 2

    h = 4

    f = 6

    1 g = 1

    h = 4

    f = 5

    1 g = 1

    h = 4

    f = 5

    1 g = 2

    h = 4

    f = 6

  • A* f = g + h

    g = total cost from start + terrain cost

    h = heuristic

  • Genetic Algorithm

    Mendel

    (Gene) (Chromosome)

  • (Natural Selection) (Natural Genetics Selection) (String)

  • Holland, et al., (1975) 2

    1. 2.

    3. ()

    4. Probabilistic Deterministic

  • Code by SWAPNIL MARATHE

  • Ant Colony

    (Pheromone)

    Ant Colony

  • Ant Colony System (ACS) (Dorigo and Gambardella, 1997) AS ACS

    Ant System

    Ant System

    1.ACS

    2.

    3.

  • Distance

    A B C D

    A - 10 5 15

    B 20 - 16 4

    C 5 16 - 6

    D 15 4 6 -

    Pheromones

    A B C D

    A - 0.1 0.1 0.1

    B 0.1 - 0.1 0.1

    C 0.1 0.1 - 0.1

    D 0.1 0.1 0.1 -

    Local Update Global Update

  • 4 A, B, C D Genetic algorithm Population = 4, Maximum literation = 2, %50-Crossover 25%-Mutation

    I

    Distance matrix A B C D A 0 20 5 15 B 20 0 16 4 C 5 16 0 6 D 15 4 6 0

    II

  • 4 A, B, C D Ant colony optimization q0 0.9, Belta 2, 1 Pheromone 0.1

    I

    Distance matrix Pheromone matrix A B C D A B C D A 0 20 5 15 A 0 B 20 0 16 4 B 0 C 5 16 0 6 C 0 D 15 4 6 0 D 0

    II

  • Artificial Intelligence (AI)AgendaA* () g () () () () ()A* with terrain costExample A* Prey PredatorExample A* Prey PredatorExample A* Prey PredatorExample A* Prey PredatorExample A* Prey PredatorExample A* Prey PredatorExample A* Prey PredatorA* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costExample A* with terrain costInfluenced by the enemy firing zone and skillGenetic AlgorithmEncoding genetic algorithmData Representation Roulette Using Genetic Algorithms to solve in n-Queen gameAnt Colony Optimization (ACO)Ant Colony OptimizationAnt Colony OptimizationBest known solutions for two problem of the TSP. GA ACOSlide Number 46