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import numpy as np
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import matplotlib.pyplot as plt
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#Astar算法
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def A_star(org, des):
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open_list = []
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close_list = []
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open_list.append(org)
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while len(open_list) > 0:
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temp_node = open_list[0]
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for node in open_list:
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if node.f < temp_node.f:
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temp_node = node
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current_node= temp_node
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open_list.remove(current_node)
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close_list.append(current_node)
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#找到当前节点的所有邻近节点
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node_list = []
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if Is_valid(current_node.x, current_node.y - 1, open_list, close_list):
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node_list.append(Node(current_node.x, current_node.y - 1))
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if Is_valid(current_node.x, current_node.y + 1, open_list, close_list):
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node_list.append(Node(current_node.x, current_node.y + 1))
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if Is_valid(current_node.x - 1, current_node.y, open_list, close_list):
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node_list.append(Node(current_node.x - 1, current_node.y))
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if Is_valid(current_node.x + 1, current_node.y, open_list, close_list):
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node_list.append(Node(current_node.x + 1, current_node.y))
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if Is_valid(current_node.x - 1, current_node.y - 1, open_list, close_list):
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node_list.append(Node(current_node.x - 1, current_node.y - 1))
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if Is_valid(current_node.x + 1, current_node.y + 1, open_list, close_list):
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node_list.append(Node(current_node.x + 1, current_node.y + 1))
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if Is_valid(current_node.x - 1, current_node.y + 1, open_list, close_list):
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node_list.append(Node(current_node.x - 1, current_node.y + 1))
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if Is_valid(current_node.x + 1, current_node.y - 1, open_list, close_list):
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node_list.append(Node(current_node.x + 1, current_node.y - 1))
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neighbors = node_list
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for node in neighbors:
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if node not in open_list:
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node.init_node(current_node, des)
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open_list.append(node)
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for node in open_list:
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if (node.x == des.x) and (node.y == des.y):
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return node
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return None
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#邻点是否可用
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def Is_valid(x,y,open_list=[],close_list=[]):
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if x < 0 or x >=len(MAZE) or y < 0 or y >= len(MAZE[0]):
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return False
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if MAZE[x][y] == 1:
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return False
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if Is_contain(open_list,x,y):
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return False
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if Is_contain(close_list,x,y):
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return False
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return True
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def Is_contain(nodes, x, y):
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for node in nodes:
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if (node.x == x) and (node.y == y):
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return True
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return False
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class Node:
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def __init__(self, x, y):
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self.x = x
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self.y = y
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self.f = 0
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self.g = 0
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self.h = 0
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self.parent = None
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#对角线移动是直行移动代价的1.4倍
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#如果相邻节点已有父节点，则父节点是否更改以使g值最小为准
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def init_node(self, parent, end):
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if self.parent is not None:
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if parent is not None:
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if abs(self.x - parent.x) + abs(self.y - parent.y) == 1:
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if self.g > parent.g + 10:
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self.g = parent.g + 10
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self.parent = parent
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self.h = (abs(self.x - end.x) + abs(self.y - end.y))*10
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self.f = self.g + self.h
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else:
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if self.g > parent.g + 20:
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self.g = parent.g + 20
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self.parent = parent
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self.h = (abs(self.x - end.x) + abs(self.y - end.y))*10
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self.f = self.g + self.h
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else:
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if parent is not None:
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if abs(self.x - parent.x) + abs(self.y - parent.y) == 1:
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self.g = parent.g + 10
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self.parent = parent
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self.h = (abs(self.x - end.x) + abs(self.y - end.y))*10
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self.f = self.g + self.h
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else:
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self.g = parent.g + 20
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self.parent = parent
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self.h = (abs(self.x - end.x) + abs(self.y - end.y))*10
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self.f = self.g + self.h
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def draw_path(map_grid,path):
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obstacle_x=[]
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obstacle_y=[]
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path_x=[]
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path_y=[]
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close_list_x=[]
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close_list_y=[]
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open_list_x=[]
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open_list_y=[]
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for i in range(len(map_grid)):
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for j in range(len(map_grid[0])):
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if map_grid[i][j]==1: #栅格地图上obstacle为障碍物标识
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obstacle_x.append(j)
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obstacle_y.append(len(map_grid)-1-i)
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plt.figure(figsize=(10,10)) #为了防止x,y轴间隔不一样长，影响最后的表现效果，所以手动设定等长
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plt.ylim(-0.5,len(map_grid)-0.5)
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plt.xlim(-0.5,len(map_grid[0])-0.5)
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my_y_ticks = np.arange(0, len(map_grid), 1)
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my_x_ticks = np.arange(0, len(map_grid[0]), 1)
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plt.xticks(my_x_ticks)#竖线的位置与间隔
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plt.yticks(my_y_ticks)
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plt.grid(True) #开启栅格
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for point in path:
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path_x.append(point.y)
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path_y.append(len(map_grid)-1-point.x)
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plt.plot(path_x,path_y,linewidth=3)
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plt.scatter(open_list_x,open_list_y,s=500,c='cyan',marker='s')
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plt.scatter(obstacle_x,obstacle_y,s=500,c='k',marker='s')
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plt.scatter(close_list_x,close_list_y,s=500,c='g',marker='s')
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plt.title("grid map simulation ")
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plt.show()
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"""
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if map_grid[i][j]==closelist: #栅格地图上closelist为为闭列表中记录的位置标志
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close_list_x.append(i)
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close_list_y.append(j)
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if map_grid[i][j]==openlist: #栅格地图上openlist为为闭列表中记录的位置标志
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open_list_x.append(i)
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open_list_y.append(j)
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"""
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#暂时不画closelist和openlist
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#迷宫地图
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MAZE = [
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[0,0,0,0,0,0,0,0,0,0,0,1,1,0,1,0,1,0,1,1,0,1,0],
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[0,0,0,0,0,0,1,1,0,1,0,1,0,0,0,0,0,1,1,0,0,0,1],
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[0,0,0,1,0,0,0,1,0,0,0,1,1,0,1,0,1,0,0,1,0,0,1],
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[0,0,1,1,0,0,0,0,0,0,0,0,0,1,1,0,1,0,1,1,0,1,0],
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[0,0,0,0,0,0,0,1,1,0,0,0,0,1,1,0,1,0,0,0,0,0,0],
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[0,0,0,1,1,1,0,1,0,0,0,1,0,1,0,0,0,1,1,0,1,1,0],
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[0,1,0,0,1,1,0,0,0,0,0,1,1,0,1,0,0,0,0,0,1,0,0],
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[0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0,1,0,1,0],
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[1,0,0,0,0,0,1,1,0,1,0,0,0,0,0,0,1,1,0,0,1,0,1],
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[0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,0,1,1,0],
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[1,0,1,1,0,0,0,0,0,0,0,0,1,1,0,1,0,1,1,0,1,0,1],
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[0,0,0,0,0,0,0,1,1,0,0,0,0,0,1,0,0,0,1,0,1,0,1],
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[0,0,0,1,1,1,0,1,0,0,0,0,1,1,1,1,0,1,0,0,0,1,1],
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[0,1,0,0,1,1,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,1,1],
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[0,0,0,0,0,1,0,0,0,0,0,0,0,1,1,0,1,0,1,0,0,1,1],
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[0,0,0,0,0,0,0,0,0,0,0,1,1,0,1,0,1,0,1,1,0,1,0],
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[0,0,0,0,0,0,1,1,0,1,0,1,0,0,0,0,0,1,1,0,0,0,1],
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[0,0,0,1,0,0,0,1,0,0,0,1,1,0,1,0,1,0,0,1,0,0,1],
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[0,0,1,1,0,0,0,0,0,0,0,0,0,1,1,0,1,0,1,1,0,1,0],
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[0,0,0,0,0,0,0,1,1,0,0,0,0,1,1,0,1,0,0,0,0,0,0],
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[0,0,0,1,1,1,0,1,0,0,0,1,0,1,0,0,0,1,1,0,1,1,0],
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[0,1,0,0,1,1,0,0,0,0,0,1,1,0,1,0,0,0,0,0,1,0,0],
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[0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0,1,0,1,0],
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]
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#设置起始点和终点
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org = Node(22, 0)
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des = Node(0, 22)
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result_node = A_star(org, des)
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path = []
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minpath = result_node.g
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count=0
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while result_node is not None:
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path.append(Node(result_node.x, result_node.y))
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if result_node.parent is not None:
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if abs(result_node.x - result_node.parent.x) + abs(result_node.y - result_node.parent.y) == 2:
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count+=1
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result_node = result_node.parent
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minpath-=count*6
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for i in range(0,len(MAZE)):
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for j in range(0,len(MAZE[0])):
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if Is_contain(path, i, j):
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MAZE[i][j]='*'
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print("*, ", end='')
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else:
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print(str(MAZE[i][j]) + ", ", end='')
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print()
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print("最短路为：",minpath)
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draw_path(MAZE,path)
|
