Robot Pencari Lintasan Terpendek Dengan Menggunakan Algoritma A Star.

!"

#

!"

$

%

#&

'
(

)

(

'


)

*

(

(

(

+

&

,

(

(
(


%

%
+

(

(

#

(
-

!" (

!"
$


(

%
&

(

%
'
%

#&

(

%

. /

$ 0111


. /

$

.0

111

111

,234 3

1 1
$1111111111

.

&


$ + +111111111111111

.

&

$ 4 #/ $

.

&

$

/ /"

11
%

/25


,23

)
656 3

""

5

/

"7

+

(

"
"


#

7

"8
"9

7
,

#

"!
/ /7

7

,


7

2*$+ ,2363: 34111
7"

$

77

#

9

2$;*

9
111111111111111111

<


!" 111111111111

<

77" #
777 ,
777"

#
,
#

778
,

#

1 11111111111

"7


11111111111
!"111111111

,
/

78"

0

787

"!
">
"

111111

7=


1 111111111111111

7"

/
?11111

&

"=
""

,

0

,

1111

1 111111111

#

77!

79

#

1111111 111111

779

77<

,
#

7777

78

%

11111111111

77

11111111111

77

1 111111111111111

79

79"

11 111111111111

797

111 11111111111111

7!

798 #

#

7<

2

111111

79!

11 11 111111111111

79<

!!111 111111111111

8=

" # 111111111111

8"

" # 111 1111111111

8"

79> #
79

"

&

"

79

/ /8

7!

/

7 9 "=

/

,2$ 3

34 3

8"

"

" # 1111111111
"

3 $2 5+

" #

11111111

+

#

#

,
8!

8"7
8"7"

111111111111111111

8<

11111111111

8<

,

8"77

;

8"78

,

8"79

&

/

111111
5

1111111 11

111111

2

-

8"8"

#

8"9

3

8"!

*

+

8"

,

8"

,

8

#

1111111111

9"
98

5

9!

9
:

9
!"
!7

87
88

8

9>

8">

4

8>

9"

8"<

87

88

89

5

8"8

87

)? *

' 2 A 7..(

28 2

4

4 (

4

2

:
;* % *
%&.)? *

4 (

2 23

4
4 (
2 (

4

? * *

>

>
#
#

@7

@9
@9
@7
7

#
> : =

>

>
#
#

@7

@9
@9
@7
7

#

B
(

8

2 2

B
%

( (1
2

2(

21 21( @
@

8B
A

CD8( B 22 D% (2E'
( 0 2
( CE'
0 .'
(0 '
B 32 @ 3
20 '
B 32 0 '
F0 2
ACE'
80 2
ACE'
0 2
ACE'
0 2
ACE'
0 2
ACE'
1
0 .'
8 2
(0 2
ACE'
( ( 0 2
ACE'
2G 0 2
ACE'
0 '
2
0 2
ACE'
B 2 2
0 2
ACE'
B1 B1 0 '
G 0 -'
CE'

B
2 B

@

C 2 2 2E H
8C

00 .E H
8 C ( 00 E H

B

( (1 2

3 ( A

2

(1@ 3
20 '
@ 3
20 '
A ( @ B ( CD
DE'
A ( @
C.% E'
0 '
0 2
ACE'
I J0 '
1
0 2
ACE'
1
I J0 '
0 2
ACE'
I1J 0 '
K
K2 2 8C
00 E H
8 C ( 00 E H
(1@ 3
20 '
8 @ 3
20 '
A ( @ B ( CD8
DE'
A ( @
C.% E'
0 -'
8
0 2
ACE'
8
I J0 '
8
1
0 2
ACE'
8
1
I J0 '
8
0 2
ACE'
8 I1J 0 '
K
K
8 C ( 00 E H
(1@ 3
20 '
FI1J 0 ..'
A ( @ B ( CD
DE'
A ( @
C.% E'
K
K

B

B

( (1

L; 2

M

C 2 EH
8 C1
00 .
00 -E H
8 C 0.' N0 97' OOE H
8 C8
1
I J 00 E H
8 C10.' 1N0 97' 1OOE H
8 C8
I1J 00 E H
8 C40P $' 4N0 ' 4OOE H
I4J 0 ...QC
@ C PC4O $EEO
@ C.P1EE'
K
8 C40.' 4N0 ,' 4OOE H
I4J 0 .QC
@ C4EO
@ C P1EE'
K
8 C40 $' 4N0-7' 4OOE H
I4J 0 .QC
@ C PC4P $EEO
@ C-P1EE'
K
8 C40- ' 4N0$ ' 4OOE H

I4J 0 .QC
@
K
8 C40$-' 4N0 ' 4OOE H
I4J 0 .QC
@
K
8 C40 9' 4N09 ' 4OOE H
I4J 0 .QC
@
K
8 C407.' 4N0 ,' 4OOE H
I4J 0 .QC
@
K
8 C40 $' 4N0 7' 4OOE H
I4J 0 .QC
@
K
8 C40 ' 4N0
' 4OOE H
I4J 0 .QC
@
K
8 C40 -' 4N0 - ' 4OOE H
I4J 0 .QC
@
K
8 C40 -9' 4N0 , ' 4OOE H
I4J 0 .QC
@
K
8 C40 $.' 4N0 ,' 4OOE H
I4J 0 .QC
@
K
8 C40 $' 4N0 97' 4OOE H
I4J 0 .QC
@
K
K
K
K
K
8 C 0 ,' N0 97' 0 O $E H
I J 0 I JO ....'
K
8 C 0.' N0 $' 0 O $E H
I J 0 I JO ....'
K
8 C 0 9 ' N0
' OOE H
I J 0 I JO ....'
K
8 C 0.' N0 97' OOE H
I J 0 I JOCFI JQ .E'
K
8 C 0.' N0 97' OOE H
8 C8 I J 00 E H
8 0 '
K
K
1
0 '
( 0 .'
K
. 0 I.J'
0 I J'
- 0 I-J'

C PC4P- EEO

@

C,P1EE'

C PC4P$-EEO

@

C$P1EE'

C PC4P 9EEO

@

C P1EE'

C PC4P7.EEO

@

C9P1EE'

C PC4P $EEO

@

C7P1EE'

C PC4P EEO

@

C P1EE'

C PC4P

-EEO

@

C P1EE'

C PC4P -9EEO

@

C .P1EE'

C PC4P $.EEO

@

C

C PC4P

@

C -P1EE'

$EEO

P1EE'

,0
$0
0
90
70
0

I,J'
I$J'
I J'
I9J'
I7J'
I J'

RRRRRR@@
9 0 I 9 J'
99 0 I 99J'
97 0 I 97J'
K
C 2 2 2E H
8 C 2 S0 8 E H
8 C40.' 4N0 97' 4OOE H
8 C I4J 00 E H
( 0 4'
2
I ( J0 '
B 2 2
I ( J0 '
B 2 0
CB 2 EOD DO
C ( E'
B 2B ( 0 B 2B ( O '
B 20B 2 @
CD DE'
8 C I4P JN ...
2
I4P J S0 E H
2
0
C 2
EOD DO
C4P E'
2 B ( 0 2 B ( O '
I4P J 0 I4JO $'
2
I4P J 0 '
K
8 C I4P $JN ...
2
I4P $J S0 E H
2
0
C 2
EOD DO
C4P $E'
2 B ( 0 2 B ( O '
I4P $J 0 I4JO .'
2
I4P $J 0 '
K
8 C I4P ,JN ...
2
I4P ,J S0 E H
2
0
C 2
EOD DO
C4P ,E'
2 B ( 0 2 B ( O '
I4P ,J 0 I4JO $'
2
I4P ,J 0 '
K
8 C I4P JN ...
2
I4P J S0 E H
2
0
C 2
EOD DO
C4P E'
2 B ( 0 2 B ( O '
I4P J 0 I4JO .'
2
I4P J 0 '
K
8 C I4O JN ...
2
I4O J S0 E H
2
0
C 2
EOD DO
C4O E'
2 B ( 0 2 B ( O '
I4O J 0 I4JO .'
2
I4O J 0 '
K
8 C I4O ,JN ...
2
I4O ,J S0 E H
2
0
C 2
EOD DO
C4O ,E'
2 B ( 0 2 B ( O '

I4O ,J 0 I4JO $'
2
I4O ,J 0 '
K
8 C I4O $JN ...
2
0
2 B (
I4O $J 0
2
I4O
K
8 C I4O JN ...
2
0
2 B (
I4O J 0
2
I4O
K

2

I4O $J S0 E H
2
EOD DO
0 2 B ( O '
I4JO .'
$J 0 '
C

I4O J S0 E H
2
EOD DO
0 2 B ( O '
I4JO $'
J0 '

C4O $E'

2

C

C4O E'

K
I4J 0 .'
K
2 0
222C
222C

2
2
2

@
CD DE'
( E'
(B ( E'

0 '
2 C N0 2 B ( E H
8 C 0 ' N0B 2B ( ' OOE H
2 0 2 I J'
B 2 0 B 2I J'
8 C 2 I J S0 B 2I JE H
0
Q '
K2 2H
0
Q.'
K
K
8C
00 E H
2
( 0
C 2
( EOD DO
2
(B ( 0 2
(B ( O '
K
0 O '
0 '
K
8

2
(0 2
( @
C10.' 1N0 97' 1OOE H
8I1J 0 I1JO I1J'

CD DE'

K
8 CB0 ' BN0 2
(B ( ' BOOE H
8 2
(IBJ 0 8I 2
(IBJJ'
( ( IBJ 0 8 2
(IBJ'
K
TT
0 '
2 C N0C 2
(B ( P EE H
8 C 0 O ' N0 2
(B ( ' OOE H
8 C8 2
(I JN8 2
(I JE H
( (I J08 2
(I J'
( (IJ08 2
(I J'

C

2 I JE'

8

C(0 ' (N0 2
(B ( ' (OOE H
8 2
(I(J 0 ( ( I(J'

K
K
K
0 O '
K
2 12B 0 ( ( I J'
8 C0 2
(B ( ' U0 ' PPE H
8 C8I 2
(I JJ 00 2 12B E H
2G 0 '
K
K
2 0 2
(I 2GJ'
8 0 I8 J'
. 0 I.J'
0 I J'
- 0 I-J'
, 0 I,J'
$ 0 I$J'
0 I J'
9 0 I9J'
7 0 I7J'
0 I J'
0 I J'
. 0 I .J'
0 I J'
- 0 I -J'
, 0 I ,J'
$ 0 I $J'
0 I J'
9 0 I 9J'
7 0 I 7J'
0 I J'
0 I J'
- 0 I- J'
-- 0 I--J'
-, 0 I-,J'
-$ 0 I-$J'
- 0 I- J'
RRRRRR
9 0 I 9 J'
99 0 I 99J'
97 0 I 97J'

8. 0 8I.J'
8 0 8I J'
8- 0 8I-J'
8, 0 8I,J'
8$ 0 8I$J'
8 0 8I J'
89 0 8I9J'
87 0 8I7J'
8 0 8I J'
8 0 8I J'

8 . 0 8I .J'
8 0 8I J'
8 - 0 8I -J'
8 , 0 8I ,J'
8 $ 0 8I $J'
8 0 8I J'
8 9 0 8I 9J'
8 7 0 8I 7J'
8 0 8I J'
8 0 8I J'
8-. 0 8I-.J'
8- 0 8I- J'
8-- 0 8I--J'
8-, 0 8I-,J'
8-$ 0 8I-$J'
8- 0 8I- J'
8-9 0 8I-9J'
8-7 0 8I-7J'
8- 0 8I- J'
8- 0 8I- J'
8,. 0 8I,.J'
8, 0 8I, J'
8,- 0 8I,-J'
8,, 0 8I,,J'
8,$ 0 8I,$J'
8, 0 8I, J'
8,9 0 8I,9J'
8,7 0 8I,7J'
8, 0 8I, J'
8, 0 8I, J'
8$. 0 8I$.J'
8$ 0 8I$ J'
8$- 0 8I$-J'
8$, 0 8I$,J'
8$$ 0 8I$$J'
8$ 0 8I$ J'
8$9 0 8I$9J'
8$7 0 8I$7J'
8$ 0 8I$ J'
8$ 0 8I$ J'
8 . 0 8I .J'
8 0 8I J'
8 - 0 8I -J'
RRRRRRR@@
8 9 0 8I 9 J'
8 99 0 8I 99J'
8 97 0 8I 97J'

A0
2'
2 0 A'
8 2 0 8I 2 J'
8 C 2 00 8 E H
A ( @

B

( CD8 (

DE'

A ( @
K
8 CA 00 E H
B 2 @ 3
I J0 '
K
8 CA 00 -E H
B 2-@ 3
I-J 0 '
K
8 CA 00 ,E H
B 2,@ 3
I,J 0 '
K
8 CA 00 $E H
B 2$@ 3
I$J 0 '
K
8 CA 00 E H
B 2 @ 3
I J0 '
K
8 CA 00 9E H
B 29@ 3
I9J 0 '
K
8 CA 00 7E H
B 27@ 3
I7J 0 '
K
8 CA 00 E H
B 2 @ 3
I J0 '
K
8 CA 00 E H
B 2 @ 3
I J0 '
K
8 CA 00 .E H
B 2 .@ 3
I .J 0 '
K
8 CA 00 E H
B 2 @ 3
I J0 '
K
8 CA 00 -E H
B 2 -@ 3
I -J 0 '
K

C.% E'

20 '

20 '

20 '

20 '

20 '

20 '

20 '

20 '

20 '

20 '

20 '

20 '

RRRRRRRRRRRRRR@@
8 CA 00 9 E H
B 2 9 @ 3
I 9 J0 '

20 '

K
8 CA 00 99E H
B 2 99@ 3
20 '
I 99J 0 '
K
A ( @ B ( CD
DE'
A ( @
C.% E'
K
K

B

B

( (1

L<

M

C 2 EH
2 CG

S0 B1 B1
2 00 8
A ( @ B ( CD
DE'
A ( @
C.% E'
8 CV0.' VN0 97' VOOE H
8 C8 IVJ 00 E H
G 0 V'
K
K
8 C 0.' N0-' OOE H
8 C 0CG O P E' N0CG
8 C I J 00 C IG
8 CB

1

00 E H

O O E' 0 O $E H
JP $E
I J 00 C IG JP .EE H
2 2
I J 00 E H
B1 B1 0 '
8 IG J 0 .'

K
K
K
K
8 C B1
8

B1NG E H
CV0 97' VU0.' VPPE H
8 C8 IVJ 00 E H
G 0 V'
K

K
8 C 0.' N0-' OOE H
8 C 0CG O P E' N0CG O O E' 0 O $E H
8 C I J 00 C IG JP $E
I J 00 C IG JP .EE H
8 CB 2 2
I J 00 E H
B1 B1 0 '
8 IG J 0 .'
K
K
K
K
K
1 0 B1 B1'
8 C1 00 E H
( @ 3
20 '
( @
0 .'
8 I J0 '
K
8 C1 00 -E H
(-@ 3
20 '

8

(-@
0 .'
I-J 0 '

K
RRRRRRRRRRRRRR@
8 C1 00 9 E H
( 9 @ 3
20 '
( 9 @
0 .'
8 I 9 J0 '
K

8 C1 00 99E H
( 99@ 3
20 '
( 99@
0 .'
8 I 99J 0 '
K
( 0 .'
K
K

! "#$%
&' (%

)*#% +,)% ,-)%

! ./$%

!010$
'
%
2 3

&

!

"#
5

46 4 ! 4
4

$

47

6 47

4 (

$%

"

"#

(
*

,
8
%
%

**

'

%

,
9
%

52
%

***

*/

,

,

05/.% :';