A星搜索(A* search, A Star search algorithm)算法实现代码

为了对A*算法的印象比较深刻一点，这几天抽了空参照前面转载的那篇介绍A*算法的文章实现了一个简易的A*算法，完全用纯C语言实现。代码贴在这里供以后参考。如果用来解决其他问题，可以移植过去，重新实现几个函数就行了，主要是扩展节点的函数。

 

注：如果想使用已有的比较好使的A*算法，推荐一个以前我使用过的C++写的A*程序，参见这里(http://code.google.com/p/a-star-algorithm-implementation/)。这个代码里有几个例子程序，可以参照一下，也有详细的readme，参照说明重新实现一下Node就行了。

 

/* * file: astar_algorithm.h * author: MulinB@HUST * date: 2010-10-10 * modified: 2012-05-09 * A-star algorithm implemented in C. Only for study. */ #ifndef _ASTAR_ALGORITHM_H #define _ASTAR_ALGORITHM_H #include <math.h> #define M 6 #define N 8 //map marks #define AVAIL 0 #define UNAVAIL -1 #define START 100 #define END 111 #define ROAD 10 #define GET_F(X) (X->G + X->H) typedef struct Node { //for node itself int type; //node type int i; //i index int j; //j index //for A star algorithm double G; //past road cost double H; //heuristic, F = G + H struct Node* parent; //parent node, used for trace road struct Node* next; //only used for open and close list }Node; //==========================open close list operation================ Node* open_list; Node* close_list; void init_openlist() { open_list = NULL; } void init_closelist() { close_list = NULL; } void destroy_openlist() { Node* q; Node* p = open_list; while (p != NULL) { q = p->next; free(p); p = q; } } void destroy_closelist() { Node* q; Node* p = close_list; while (p != NULL) { q = p->next; free(p); p = q; } } void insert_into_openlist(Node* new_node) //insert and sort by F { Node* p; Node* q; if (open_list == NULL) { open_list = new_node; //insert as the first return; } p = open_list; while (p != NULL) { q = p; p = p->next; if (p == NULL) { q->next = new_node; //insert as the last return; } else if (GET_F(new_node) < GET_F(p)) { q->next = new_node; //insert before p, sorted new_node->next = p; return; } } } void insert_into_closelist(Node* new_node) //just insert before head { if (close_list == NULL) { close_list = new_node; //insert as the first return; } else { new_node->next = close_list; //insert before head close_list = new_node; return; } } Node* find_node_in_list_by_ij(Node* node_list, int di, int dj) { Node* p = node_list; while (p)