IRJET- Bidirectional Graph Search Techniques for Finding Shortest Path in Image based Maze Problem

IRJET- Bidirectional Graph Search Techniques for Finding Shortest Path in Image based Maze Problem

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  International Research Journalof Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 04 | Apr 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 1410 Bidirectional Graph Search Techniques for Finding Shortest Path in Image Based Maze Problem Navin Kumar1, Sandeep Kaur2 1,2Department of Computer Science & Engineering, Sri Sai College of Engineering & Technology, Manawala, Amritsar, India ---------------------------------------------------------------------***---------------------------------------------------------------------- Abstract - The intriguing problem of solving a maze comes under the territory of algorithms and artificial intelligence. The maze solving using computers is quite ofinterestformany researchers, hence, there had been many previous attemptsto come up with a solution which is optimum intermsoftime and space. Some of the best performing algorithms suitableforthe problem are breadth-first search, A* algorithm, best-first search and many others which ultimately are the enhancement of these basic algorithms. The images are converted into graph data structuresafterwhichanalgorithm is applied eventually pointing the trace of the solution on the maze image. This paper is an attempt to do the same by implementing the bidirectional version of these well-known algorithms and study their performance with the former. The bidirectional approach is indeed capable of providing improved results at an expense of space. The vital part of the approach is to find the meeting point of the two bidirectional searches which will be guaranteed to meet if there exists any solution. Key Words: Maze Solving, Bidirectional Search,Artificial Intelligence, Image Processing 1. INTRODUCTION The maze solving problem is defined as finding a path from starting point to the ending point in a way that the path so found must be of the shortest length. The process involves three main modules, first involving the acquisition of the actual image, conversion of the image to a graph data structure and the last but not least finding the shortest path to the maze using graph search algorithms[1] and mapping the found solution back on the image. Fig. 1 exhibit the entire process, the left one is the input maze image “8X8” in the given figure. The middle image represents the conversion to the graph data structure. The right one is the actual solutionwhichismappedontheimage in the form of a gradient trace using the GDlibrary[2]inPHP [3]. The crucial thing to note here is that there exist multiple paths in this maze however the algorithm should give the one with minimum path length i.e. number of edges, therefore, discarding any other solution which is of greater path length. The bidirectional searching technique used in this implementationisquitedifferentfromtraditional algorithms like breadth-first search (BFS)orA*algorithm[4].Unlike the one directional search, the bidirectional search will run two simultaneous instances of the chosen algorithm one from start to end and other from end to start. The search will stop once a meeting point is found for two instances, like the one shown in the fig.1 in green color, hence, announcing that a solution to the problem is found. Fig.1 The Maze process solution using Bidirectional Search Technique. In this paper the two types of mazes are considered for calibrating the performance of the proposed method of bidirectional search technique, these are “8X8” as shown in Fig.1 where the minimum possible path lengthcanbe7hops and “16X16” which is shown in Fig. 2 having a large search space with the minimum possible path length as 15 hops. In this paper both informed and uninformed searching techniques are compared with their counterpart bidirectional search technique and also all the result set are compiled to find the best algorithm suitableformazesolving problem. 2. RELATED WORK M.O.A. Aqel et al. (2017) [5] has proposed the algorithm of BFS to find the solution to the maze problem. The algorithm expands the nodes level by level i.e. the nodes which are adjacent to the currently considered nodes are all expanded first before going to the nodes which are at next level, this is done by using a queue and hence is done in FIFO manner. This approach works great where the maze size is limited hence making the searchspacelimited.Thetimetakenwillbe proportional to the number of nodes in a graph thus with increasing maze size performance will take a downturn. The BFS is guaranteed to give the path of minimum length as it divides the nodes into different level groups as shown in Fig. 2.
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  International Research Journalof Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 04 | Apr 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 1411 Fig. 2 Level Traversal of BFS for a given graph. N.Hazim et al. (2016) [6] implemented the A* algorithm for a problem analogous to maze solving problem. The performance of this technique will perhaps improve as at every expansion it considers a node which is more close to the goal node form the current frontier. All in all, it gives a better result when the size of the maze is large and gives an acceptable result in small and medium size maze. Y. Murata et al. (2014) [7] proposed a solution which involved the segregating of the mazeintosmallblocksofnxn where the value of n is provided by the user based on the prediction. The individual block goes through the selected graphsearchalgorithmeventuallycombiningtheresulttoget the shortest path. In essence, this approach is the implementation of A* in a way where the performance of the approach depends upon the values of npredictedbytheuser. B. Gupta et al. (2014) [8] surveyed different maze solving algorithms for maze solving robot. It considered the algorithms which are related to flood fill as the robot cannot see the entire maze at once. Lee’s algorithm based on BFS is culminating every other algorithm which was considered in the survey. The drawback of such an algorithm is its space complexity. S. Tjiharjadi et al. (2017) [9] proposedthemethodformaze solving robot. It concluded that robot can only find the shortest path only after the entire exploration of the maze, eventually, applying the A* or flood fill algorithm. The comparison doesn’t give a complete picture for a maze of smaller size (“5X5”) because in a small search space the overheads in A* algorithms are always highlighted in comparison with every uninformed search. In order to comprehend mazes of different sizes should be considered before concluding a result. 3. METHODOLOGY This section givesa detailed explanation ofthemethodsused to convert the image to a graph data structure,theworkingof bidirectional search technique and the entire flow of the method followed. A. Image to graph Conversion 1) Detect the image size for “8X8” or “16X16” maze. 2) For each block get the intensity at the center, an intensity close to white indicates a node in the graph while the black one is ignored. 3) For each node so obtained, the adjacent neighbor is checked. If an adjacent block is white, an edge is taken between two nodes. Since the diagonal move is not enabled so for each node only three adjacent nodes can be there. 4) The nodes and edges obtained are then converted into a graph data structure suing adjacency list representation. B. Bidirectional Search Algorithm The bidirectional search worksjustlikethenormalversionof a specific algorithm except for the fact that theterminationof the algorithm happens for the following two conditions 1) All nodes of the graph are visited Thiscondition is true underthecircumstanceswherenopath exists from start to the end node. The two searches will terminatewhen there are no more nodes lefttobevisited.On an average, the two searches will expand half the number of nodes individually, if it’s a bidirectional BFS, however, same cannot be said forthe A* as the expansion is dependent upon heuristic values. 2) Meeting point is found This condition indicates that the solution does exist, hence, two searches have a meeting point. The meeting point so found is guaranteed to be part of the minimum solution in case of A* as the expansion is done on the basis of heuristic values. The BFS, on the other hand, may or may not lead to a solution of shortest path length, however, this can be achieved by modifying thealgorithm to repeattheprocedure further until the path length of a pre specified length is found which can be different depending upon the maze size. C. Heuristics Used For Informed Searches The heuristic used forA*shouldbeadmissibleandconsistent in contemplation of the problem studied. Here the maze is considered is made from equal size blocks so as a result a simple straight line heuristic is used which can be calculated by the following formula. Where xg, yg are the coordinatesof the goal node and x1, y1 are the coordinates of the required node for which heuristic value is to be calculated. The other heuristics can also be used like Manhattan heuristic which takes the minimum horizontal and verticalblockmovesfrom the goal node. The straight line heuristic is used as it is easy to calculate hence the overhead is less. h1=
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  International Research Journalof Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 04 | Apr 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 1412 D. Flow Chart of Procedure Yes No 4. RESULTS AND DISCUSSION The resultsobtainedafterimplementationwereanalyzedand compared with the previously implemented algorithms, this section is all about the same and its objective findings. The figures shown underneath represents various solution given by various algorithms, no doubt algorithms took their own specific path forfindingsolutions like in Fig.3A*wentin a direction in which it finds the minimum heuristic while the BFS naively expanded the nodes level by level. Although paths forvarious algorithms are different as per their nature of expansion, however, the pathlengthobtainedinallofthem are minimum i.e. 31 hops for the given maze. Fig.3 BFS Algorithm Fig.4 Bidirectional BFS Algorithm Fig .5 A* Algorithm Fig .6 Bidirectional A* Algorithm A. Comparison between BFS and Bidirectional BFS 1) For “8X8” Maze The traditional BFS performed better than its bidirectional counterpart, the small searchspaceisthemaincauseasthere will be more overhead of finding the meeting point in a small search space has led to the increased time complexity. Fig. 7 is the plot representing the time taken by BFS and bidirectional BFS, signifying how bidirectional technique is no better than BFS as there will be much more overhead for the other calculations involved for finding the meeting condition. Fig 7. BFS and Bidirectional BFS for “8X8” Maze For some mazes where the shortest path was of length greater than 10 hops, the bidirectional search did perform well over BFS as for both the instances there were more nodes to be expanded for each frontier. 2) For “16X16” Maze The bidirectional BFS performed better in terms of time complexity when compared with its counterpart BFS. The story switched as we moved to “16X16” maze because of the expansion of the search space the benefits of bidirectional benefits can be seen in Fig 8. Start Image to graph conversion BiBfs (start, end) BiAstart (start, end) BiBfs (end, start) BiAstart (end, start) If Meet Meet Map the Obtained Path on the Image Print Path Doesn’t Exist Stop
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  International Research Journalof Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 04 | Apr 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 1413 Fig 8. BFS and Bidirectional BFS for “16X16” Maze B. Comparison between A* and BidirectionalA*Algorithm 1) For “8X8” Maze On average, the bidirectional A* approach failed to perform well when compared with its counterpart. The overhead of checking for a meeting point in a small search space gave the advantage to a simple A* search which eventually surpassed it for most of the studied mazes. Fig 9. A* and Bidirectional A* Algorithm for “8X8” Maze 2) For “16X16” Maze Fig 10 clearly marked the bidirectional A* best for the maze of large search space. The “16X16” maze’slarge search space made the bidirectional technique suitable as it can be clearly seen in the figure. The bidirectional search technique terminated as soon as the meeting point is found and since the algorithm used here is A*, the corresponding path is guaranteed to be the minimum one. Fig 10. A* and Bidirectional A* Algorithm for “16X16” Maze C. Finding the best Algorithm for different mazes 1) For “8X8” Maze The Fig. 11 is showing the comparison of all the algorithm applied on “8X8” maze for a subset chosen randomly from a set of few hundreds of mazes. The BFSalgorithm turns out to be a better solution for an average number of mazes. Fig 11. Comparison of all the Algorithms for “8X8” Maze 2) For “16X16” Maze Fig. 12 shows the randomly selected results for all the algorithms practiced on hundreds of “16X16” mazes. The bidirectional BFS clearly outdid itself for almost every maze when compared with all the other algorithms. The bidirectional A* algorithm did performwellascompared to the A* as expected from the previousobservationsbutwas not able to compete with other bidirectional algorithms i.e. BFS as it needs to evaluate every adjacent node at every expansion so as to select a minimum one. The sequence of the algorithmsaccordingtothetimetakento get the solution from worst to best can be written as A*, bidirectional A*, BFS algorithm and bidirectional BFS algorithm. Fig 12. Comparison of all the Algorithms for “16X16” Maze 5. CONCLUSIONS In this paper, the various algorithms used for maze solving problem were studied and compared with the bidirectional approached which was proposed as an enhancement to find the solution of minimum path length. Thebidirectionalsearchingtechniquesforvariousalgorithms performed better than any of their equivalent traditional techniques. The enhancement comes at the expense of using extra memory thereby making these algorithms out of place.
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  International Research Journalof Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 04 | Apr 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 1414 The bidirectional BFS in particular outperformed for various mazes which were considered for this research. The informed searchingalgorithmslikeA*alsofallbehindits corresponding bidirectional version withal overhead considered of calculating the heuristicvaluesandcheckingof the meeting condition. The algorithm like depth-first search [10] and its enhanced versions are not considered in this paper as the solution required should be of minimum hops while the depth-first search will give a solution that might not be of shortest length. In conclusion, the bidirectional BFS performed better for a maze of larger search space i.e. “16X16”, however, fora maze of smaller size i.e. “8X8” the BFS outdid in terms of time complexity. REFERENCES [1] T.H. Coremen, C.E. Leiserson, R.L. Rivest, and C. Stein, “Introduction to Algorithms”, Third edition, Prentice Hall of India, pp. 587-748, 2009. [2] J. Valade, T. Ballad and B. Ballad, “PHP & MySQL Web Development All-in-One Desk Reference ForDummies”, Third edition, Wiley Publishing Inc., pp. 449-459, 2008. [3] L. Ullman, "PHP and MySQL Web Development", CA: Peachpit Press, pp. 193-241,2016. [4] S.J. Russell and P. Norvig, “Artificial Intelligence: A Modern Approach,” Third Edition,PearsonIndia,pp.64- 108, 2018 [5] M.O.A. Aqel, A. Issa, M. Khdair, M. ElHabbash, M. AbuBaker, and M. Massoud, “Intelligent Maze Solving Robot Based On Image Processing and Graph Theory,” 2017 International Conference on Promising Electronic Technologies (ICPET), Deir El-Balah, Palestine, 16-17 October 2017, pp. 49-53. [6] N.Hazim, S.S.M. Al-Dabbagh, and M.A.S. Naser, “Pathfinding in Strategy Games and Maze Solving Using A* Search Algorithm,” Journal of Computer and Communications, January 2016, pp.15-25. [7] Y.Murata and Y.Mitani, “A Fast and Shorter Path Finding Method for Maze Images by Image Processing Techniques and Graph Theory,” Journal of Image and Graphics, Volume 2, No.1, June 2014, pp.89-93. [8] B. Gupta and S. Sehgal, “Survey on Techniques used in Autonomous Maze Solving Robot,” 2014 5th International Conference - Confluence the Next Generation Information Technology Summit (Confluence), 25-26 September 2014 [9] S. Tjiharjadi, M. Chandra Wijaya, and E. Setiawan, “Optimization Maze Robot Using A* and Flood Fill Algorithm,” International Journal of Mechanical Engineering and Robotics Research Vol. 6, No. 5, September 2017 [10] E. Rich and K. Knight, "Artificial intelligence",NewDelhi: Tata McGraw-Hill, pp. 307-326,2000. BIOGRAPHIES Navin Kumar received his B.Tech Degree in computer science and engineeringfrom Guru Nanak Dev University, Amritsar. Worked for Accenture Mumbai, thereby, acquiring work experience of a year in the field of IT. He has also worked as an Assistant Professor at DAV College, Amritsar for3 years,additionally qualifiedGATE2019,GATE 2018 and UGC NET for Assistant Professor in 2018. He is currently pursuing M.Tech in Computer science and Engineering at Sri Sai College of Engineering & Technology, Manawala, Amritsar. His main research interests include Algorithms, Theoretical Computer Science and Artificial intelligence. Sandeep Kaur received her B.Tech and M.Tech in Computer science and Engineering from Punjab Technical University, Kapurthala. She is currently working as an Assistant Professor at Sri Sai College of Engineering & Technology, Manawala, Amritsar. Her main research space is Image processing and Software Engineering.