Define the necessary functions to implement the search problem, including an ACTIONS function that takes a vertex as input and returns a set of vectors, each of which maps the current vertex to one of the vertices that can be reached in a straight line. (Do not forget the neighbors on the same polygon.)
Input: an environment like the one shown in Fig. 3.31 in your textbook, a start, and a goal location.
Output: the shortest path that the robot has to follow to reach from the start to the goal (Shown visually on screen).
the screenshots of the output should be added to the PDF. NOTE: I HAVE ALREADY MADE THE OBSTACLE OF 8 POLYGONS TO SAVE TIME. PLEASE USE THE ATTACHED CODE TO PROCEED SOLVING THE ALGORITHM PART. SCREENSHOTS OF THE QUESTION ARE ALSO ATTACHED.
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