算法背景
A*算法是一种在图形平面上,有多个路径中寻找一条从起始点到目标点的最短遍历路径的算法。它属于启发式搜索算法(Heuristic Search Algorithm),因为它使用启发式方法来计算图中的节点,从而减少实际计算的节点数量,提高搜索效率。
基本原理
A*算法的核心思想是结合了Dijkstra算法和Best-First-Search算法的特点。它使用一个估价函数f(n) = g(n) + h(n)来估算从起始点到目标点的总代价,其中g(n)表示从起始点到当前节点的代价,h(n)是从当前节点到目标点的启发式估计代价。
A*算法通过扩展路径代价最小的节点来寻找目标点,它保证了如果h(n)的估计值是准确的,那么找到的路径也是最短的。相比于Dijkstra算法中会一直遍历选择距离较近的点收录,在A*算法中增加启发式函数h(n)会减少收录的栅格数目,加快算法的导向终点的速度。
算法流程
相比于Dijkstra算法,就多了一个启发式函数h(n)。
在实际应用中需权衡速度和最优性。启发式函数取的大的话可以快速找到终点。但可能会损失最优性,所以保证A*算法最优性需要加上下面这个条件,即启发项小于等于最优的那条路径:
h(n) <=*h(n)
open list表示存放从当前节点到节点已经更新过的路径;
closed list表示截至目前到起点最短路径的节点进行收录。
那么针对下面这个图的存储流程应如下:
open list:2(1+6) 3(5+0) # 2(1+6)表示节点2到起点的距离为1,加上启发项为6
closed list:1(0)
open list:2(1+6)
closed list:1(0) 3(5+0) #实际上上面的路径理论上会更短,丧失了最优性
案例实操
对起点[-5,-5],终点 [50, 50]在边长范围为[-10,60]的正方形进行路径规划,其中设置了两个墙体作为障碍物,对比A*算法与Dijkstra算法。
【实验代码】
import math
import matplotlib.pyplot as plt
show_animation = True
class AStarPlanner:
def __init__(self, ox, oy, resolution, rr):
"""
Initialize grid map for a star planning
ox: x position list of Obstacles [m]
oy: y position list of Obstacles [m]
resolution: grid resolution [m]
rr: robot radius[m]
"""
self.resolution = resolution
self.rr = rr
self.min_x, self.min_y = 0, 0
self.max_x, self.max_y = 0, 0
self.obstacle_map = None
self.x_width, self.y_width = 0, 0
self.motion = self.get_motion_model()
self.calc_obstacle_map(ox, oy)
class Node:
def __init__(self, x, y, cost, parent_index):
self.x = x # index of grid
self.y = y # index of grid
self.cost = cost
self.parent_index = parent_index
def __str__(self):
return str(self.x) + "," + str(self.y) + "," + str(
self.cost) + "," + str(self.parent_index)
def planning(self, sx, sy, gx, gy):
"""
A star path search
input:
s_x: start x position [m]
s_y: start y position [m]
gx: goal x position [m]
gy: goal y position [m]
output:
rx: x position list of the final path
ry: y position list of the final path
"""
start_node = self.Node(self.calc_xy_index(sx, self.min_x),
self.calc_xy_index(sy, self.min_y), 0.0, -1)
goal_node = self.Node(self.calc_xy_index(gx, self.min_x),
self.calc_xy_index(gy, self.min_y), 0.0, -1)
open_set, closed_set = dict(), dict()
open_set[self.calc_grid_index(start_node)] = start_node
while 1:
if len(open_set) == 0:
print("Open set is empty..")
break
# 选择扩展点 f(n) = g(n) 即cost+ h(n)即启发式函数calc_heuristic,计算goal_node终点与open_set里面的点
c_id = min(
open_set,
key=lambda o: open_set[o].cost + self.calc_heuristic(goal_node,
open_set[
o]))
current = open_set[c_id]
# show graph
if show_animation: # pragma: no cover
plt.plot(self.calc_grid_position(current.x, self.min_x),
self.calc_grid_position(current.y, self.min_y), "xc")
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(
0) if event.key == 'escape' else None])
if len(closed_set.keys()) % 10 == 0:
plt.pause(0.001)
if current.x == goal_node.x and current.y == goal_node.y:
print("Find goal")
goal_node.parent_index = current.parent_index
goal_node.cost = current.cost
break
# Remove the item from the open set
del open_set[c_id]
# Add it to the closed set
closed_set[c_id] = current
# expand_grid search grid based on motion model
for i, _ in enumerate(self.motion):
node = self.Node(current.x + self.motion[i][0],
current.y + self.motion[i][1],
current.cost + self.motion[i][2], c_id)
n_id = self.calc_grid_index(node)
# If the node is not safe, do nothing
if not self.verify_node(node):
continue
if n_id in closed_set:
continue
if n_id not in open_set:
open_set[n_id] = node # discovered a new node
else:
if open_set[n_id].cost > node.cost:
# This path is the best until now. record it
open_set[n_id] = node
rx, ry = self.calc_final_path(goal_node, closed_set)
return rx, ry
def calc_final_path(self, goal_node, closed_set):
# generate final course
rx, ry = [self.calc_grid_position(goal_node.x, self.min_x)], [
self.calc_grid_position(goal_node.y, self.min_y)]
parent_index = goal_node.parent_index
while parent_index != -1:
n = closed_set[parent_index]
rx.append(self.calc_grid_position(n.x, self.min_x))
ry.append(self.calc_grid_position(n.y, self.min_y))
parent_index = n.parent_index
return rx, ry
@staticmethod
def calc_heuristic(n1, n2):#计算两个点之间的距离
w = 1.0 # 权重weight of heuristic,假设有多个启发式函数可以设置不同权重
d = w * math.hypot(n1.x - n2.x, n1.y - n2.y)
return d
def calc_grid_position(self, index, min_position):
"""
calc grid position
:param index:
:param min_position:
:return:
"""
pos = index * self.resolution + min_position
return pos
def calc_xy_index(self, position, min_pos):
return round((position - min_pos) / self.resolution)
def calc_grid_index(self, node):
return node.y * self.x_width + node.x
def verify_node(self, node):
px = self.calc_grid_position(node.x, self.min_x)
py = self.calc_grid_position(node.y, self.min_y)
if px < self.min_x:
return False
elif py < self.min_y:
return False
elif px >= self.max_x:
return False
elif py >= self.max_y:
return False
# collision check
if self.obstacle_map[node.x][node.y]:
return False
return True
def calc_obstacle_map(self, ox, oy):
self.min_x = round(min(ox))
self.min_y = round(min(oy))
self.max_x = round(max(ox))
self.max_y = round(max(oy))
print("min_x:", self.min_x)
print("min_y:", self.min_y)
print("max_x:", self.max_x)
print("max_y:", self.max_y)
self.x_width = round((self.max_x - self.min_x) / self.resolution)
self.y_width = round((self.max_y - self.min_y) / self.resolution)
print("x_width:", self.x_width)
print("y_width:", self.y_width)
# obstacle map generation
self.obstacle_map = [[False for _ in range(self.y_width)]
for _ in range(self.x_width)]
for ix in range(self.x_width):
x = self.calc_grid_position(ix, self.min_x)
for iy in range(self.y_width):
y = self.calc_grid_position(iy, self.min_y)
for iox, ioy in zip(ox, oy):
d = math.hypot(iox - x, ioy - y)
if d <= self.rr:
self.obstacle_map[ix][iy] = True
break
@staticmethod
def get_motion_model():
# dx, dy, cost
motion = [[1, 0, 1],
[0, 1, 1],
[-1, 0, 1],
[0, -1, 1],
[-1, -1, math.sqrt(2)],
[-1, 1, math.sqrt(2)],
[1, -1, math.sqrt(2)],
[1, 1, math.sqrt(2)]]
return motion
def main():
print(__file__ + " start!!")
# start and goal position
sx = -5.0 # [m]
sy = -5.0 # [m]
gx = 50.0 # [m]
gy = 50.0 # [m]
grid_size = 2.0 # [m]
robot_radius = 1.0 # [m]
# set obstacle positions
ox, oy = [], []
for i in range(-10, 60):
ox.append(i)
oy.append(-10.0)
for i in range(-10, 60):
ox.append(60.0)
oy.append(i)
for i in range(-10, 61):
ox.append(i)
oy.append(60.0)
for i in range(-10, 61):
ox.append(-10.0)
oy.append(i)
#两堵墙
for i in range(-10, 40):
ox.append(20.0)
oy.append(i)
for i in range(0, 40):
ox.append(40.0)
oy.append(60.0 - i)
if show_animation: # pragma: no cover
plt.plot(ox, oy, ".k")
plt.plot(sx, sy, "og")
plt.plot(gx, gy, "xb")
plt.grid(True)
plt.axis("equal")
a_star = AStarPlanner(ox, oy, grid_size, robot_radius)
rx, ry = a_star.planning(sx, sy, gx, gy)
if show_animation: # pragma: no cover
plt.plot(rx, ry, "-r")
plt.pause(0.001)
plt.show()
if __name__ == '__main__':
main()
【运行结果】
【注】两种算法的比较
A*算法显然比Dijkstra算法具有更快地收敛速度如果去掉障碍物会更加明显。
对比的Dijkstra算法可详见如下: