![]() Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A* algorithm is used for path planning. ![]() Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. In addition, we also found that binary heap is the best data structure to be implemented for 3D pathfinding problem, with regards of implementation performance. Based on experiment that have been done, euclidean squared distance is best heuristic function for 3D pathfinding problem, with regards of the implementation performance. In the experiment, some known heuristic functions and data structures will be tested on the various 3D platform with a different size and obstacle percentage. The purpose of this research is to find the best heuristic function and data structure with regards of the performance in A* search implementation as a pathfinding algorithm in a 3D platform. In the implementation of A* search, the selection of heuristic function and data structure can affect the performance of the algorithm. This is due to implementation of A* search which proven to be able to generate the optimal path in a relatively short time by combining two characteristics of Djikstra's and best-first search algorithm. Thus, the application accuracy rate reaches 86%.Keywords: Educational Games, A * Pathfinding, NavmeshĪmong many pathfinding algorithms, A* search algorithm is an algorithm that most commonly used in grid-based pathfinding. The results of the research that has been done are seen from the algorithm simulation testing is the nodes that are passed by as many as 50 nodes, where there are duplicate data as many as 7 nodes due to real time systems that read nodes over and over. This game can be played on desktop and mobile devices. Making this game uses the GDLC (Game Development Life Cycle) method with stages of Initiation, Pre Production, Production, Testing, Beta and Release. The purpose of this study is implementation of Navmesh with the A Star (A*) Pathfinding Algorithm on the characters so that players can find the trash location point and the location point of the tree with the shortest route. The location used in making this game is Campus 1 Poltekkes Surakarta. With the 3D visualization of this environmental cleanliness game, it is an effort to raise awareness of the importance of environmental hygiene and health in the community. One interesting method to provide learning about environmental cleanliness can be through games. For this reason, learning about the importance of caring for environmental cleanliness must be instilled early on. But in reality, not everyone have a concern for environmental hygiene and health. In further research, this method could be implemented on several optimization programmes, such as Geographic Information System (GIS), robotics, and statistics.Ĭleanliness is one of the requirements to create a healthy living environment. Thus, the movement of ghosts in catching Pac-Man was the result of this review of the effectiveness of this concept. A* algorithm was implemented on the enemies of Pac-Man (three ghosts), which path was designed by using NavMesh concept. ![]() Pac-Man game was chosen as the example of the shortest pathfinding by using NavMesh in Unity 3D. A* was an effective algorithm in shortest pathfinding problem because its optimization was made with effective tracing using segmentation line. In this paper, NavMesh was implemented by using A* (A star) algorithm and examined in Unity 3D game engine. This method is very interesting because it has a large area of implementation, especially in games world. This paper discussed the effective way to optimize the shortest pathfinding problem, namely Navigation Mesh (NavMesh). Shortest pathfinding problem has become a populer issue in Game’s Artificial Intelligent (AI).
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