本文要实现 Uniform Cost Search( 统一代价搜索算法) ,首先搜索总成本最小的节点, 统一代价搜索算法搜索到达目标。
PriorityQueue实现一个优先级队列的数据结构，每个插入元素具有与之关联的优先级，client快速检索队列中优先级最低的元素，以 O(1) 时间复杂度访问最低优先级的元素。
class PriorityQueue:
"""
Implements a priority queue data structure. Each inserted item
has a priority associated with it and the client is usually interested
in quick retrieval of the lowest-priority item in the queue. This
data structure allows O(1) access to the lowest-priority item.
"""
def __init__(self):
self.heap = []
self.count = 0
def push(self, item, priority):
entry = (priority, self.count, item)
heapq.heappush(self.heap, entry)
self.count += 1
def pop(self):
(_, _, item) = heapq.heappop(self.heap)
return item
def isEmpty(self):
return len(self.heap) == 0
def update(self, item, priority):
# If item already in priority queue with higher priority, update its priority and rebuild the heap.
# If item already in priority queue with equal or lower priority, do nothing.
# If item not in priority queue, do the same thing as self.push.
for index, (p, c, i) in enumerate(self.heap):
if i == item:
if p <= priority:
break
del self.heap[index]
self.heap.append((priority, c, item))
heapq.heapify(self.heap)
break
else:
self.push(item, priority)
Heap queue（heapq 堆队列）中堆是数组，对于所有k，a[k]<=a[2*k+1]和a[k]<=a[2*k+2]，从0开始计算元素。为了比较，不存在的元素被认为是无限的，堆a[0]始终是其最小元素。
Heap queue 堆队列的用法：
heap = [] # 新建一个空堆
heappush(heap, item) # 将一个新的元素压入堆
item = heappop(heap) # 从堆中取出最小的元素
item = heap[0] #最小是元素是heap【0】,直接获取
heapify(x) #将列表按线性时间转换为堆
item = heapreplace(heap, item) # 弹出并返回最小的元素，并添加新的元素；堆大小不变
统一代价搜索算法代码：
# search.py
# ---------
# Licensing Information: You are free to use or extend these projects for
# educational purposes provided that (1) you do not distribute or publish
# solutions, (2) you retain this notice, and (3) you provide clear
# attribution to UC Berkeley, including a link to http://ai.berkeley.edu.
#
# Attribution Information: The Pacman AI projects were developed at UC Berkeley.
# The core projects and autograders were primarily created by John DeNero
# (denero@cs.berkeley.edu) and Dan Klein (klein@cs.berkeley.edu).
# Student side autograding was added by Brad Miller, Nick Hay, and
# Pieter Abbeel (pabbeel@cs.berkeley.edu).
def uniformCostSearch(problem):
"""Search the node of least total cost first."""
"*** YOUR CODE HERE ***"
#util.raiseNotDefined()
path =Path([problem.getStartState()],[],0)
if problem.isGoalState(problem.getStartState()):
return path.directions
#创建优先队列
queue = util.PriorityQueue()
# push的第一个参数path是状态项Path，属性（位置、方向、成本）
#push的第二个参数0是优先级
#在heapq.heappush中将(优先级priority, 计数索引self.count, 状态项item)三元组
#根据优先级priority, 计数索引self.count的组合优先级
#即（优先级priority如一样，按计数索引判断优先级），将状态项item压入队列。
queue.push(path,0)
visited =[problem.getStartState()]
#和广度优先搜索的区别，仅在于queue.push的不同。
while not queue.isEmpty():
#如队列不为空，取最先进入队列的元素（List的最后一个元素），获取当前路径
currentPath = queue.pop()
currentLocation = currentPath.locations[-1]
#如果当前位置已经是终点的位置，则返回当前路径的方向列表，用于移动pac man。
if problem.isGoalState(currentLocation):
return currentPath.directions
else:
#在搜索问题中取得当前位置后继的下一个状态.getSuccessors中for循环遍历北、南、东、西四个方向，
#directionToVector取得方向到坐标偏移向量的转换值，在当前坐标上加上位移的坐标偏移量值，
#如果下一步坐标移动的点不是围墙，则在后续状态列表中加入三元组( nextState, action, cost)
nextSteps = problem.getSuccessors(currentLocation)
for nextStep in nextSteps:
#遍历下一步的状态，依次获得位置、方向、成本信息
nextLocation =nextStep[0]
nextDirection = nextStep[1]
nextCost = nextStep[2]
# 不在当前路径里面而且下一个位置还没被访问（多条路径交叉点）
if (nextLocation not in currentPath.locations) and (nextLocation not in visited):
if not problem.isGoalState(nextLocation):
visited.append(nextLocation)
print("访问的位置：", visited)
#获取当前路径列表集
nextLocations =currentPath.locations[:]
#将新的位置加入到当前路径的列表里面
nextLocations.append(nextLocation)
print("当前位置：",currentLocation)
print("当前位置下一步可能的移动位置：",nextLocation)
print("加到当前位置列表集：",nextLocations)
#print()
#print()
#print(currentLocation,nextLocation,nextLocations)
#获取当前的方向集
nextDirections = currentPath.directions[:]
#将新的方向加入到当前方向集的列表里面
nextDirections.append(nextDirection)
nextCosts = currentPath.cost +nextCost
nextPath =Path(nextLocations,nextDirections,nextCosts)
#下一步的状态，入优先级别的队列
# push的第一个参数nextPath是状态项Path，属性（位置、方向、成本）
#push的第二个参数nextCosts是优先级
#在heapq.heappush中将(优先级priority, 计数索引self.count, 状态项item)三元组
#根据优先级priority, 计数索引self.count的组合优先级
#即（优先级priority如一样，按计数索引判断优先级），将状态项item压入队列。
print("优先级：",nextCosts)
print()
print()
queue.push(nextPath, nextCosts)
#队列为空，仍未到达终点，返回空集
return []
虽然BFS会找到一条通向目标的最少行动路径，但我们可能希望找到其他意义上“最好”的路径。考虑一下mediumDottedMaze 迷宫和mediumScaryMaze迷宫。通过改变成本函数，我们可以鼓励Pacman找到不同的路径。例如，我们可以对在幽灵出入地区的危险步骤收取更高的费用，或者对食物丰富地区的步骤收取更少的费用，而一个理性的Pacman代理应该调整它的行为来做出反应。在search.py中的uniformCostSearch函数中实现了统一成本图搜索算法。可查看util.py，了解一些在实现中可能有用的数据结构。
观察以下三种布局中的成功行为，其中下面的代理使用不同的成本函数（代理和成本函数已编写），StayEastSearchAgent的成本函数是costFn = lambda pos: .5 ** pos[0]；StayWestSearchAgent的成本函数是costFn = lambda pos: 2 ** pos[0]，StayEastSearchAgent and StayWestSearchAgen的路径成本应该分别非常低和非常高。
python pacman.py -l mediumMaze -p SearchAgent -a fn=ucs
python pacman.py -l mediumDottedMaze -p StayEastSearchAgent
python pacman.py -l mediumScaryMaze -p StayWestSearchAgent
运行结果分别如下：
E:\2019reforce_learning\cs188\proj1-search-python3>python pacman.py -l mediumMaze -p SearchAgent -a fn=ucs
[SearchAgent] using function ucs
[SearchAgent] using problem type PositionSearchProblem
Path found with total cost of 68 in 0.3 seconds
Search nodes expanded: 269
Pacman emerges victorious! Score: 442
Average Score: 442.0
Scores: 442.0
Win Rate: 1/1 (1.00)
Record: Win
E:\2019reforce_learning\cs188\proj1-search-python3>python pacman.py -l mediumDottedMaze -p StayEastSearchAgent
Path found with total cost of 1 in 0.2 seconds
Search nodes expanded: 186
Pacman emerges victorious! Score: 646
Average Score: 646.0
Scores: 646.0
Win Rate: 1/1 (1.00)
Record: Win
E:\2019reforce_learning\cs188\proj1-search-python3>python pacman.py -l mediumScaryMaze -p StayWestSearchAgent
Path found with total cost of 68719479864 in 0.2 seconds
Search nodes expanded: 108
Pacman emerges victorious! Score: 418
Average Score: 418.0
Scores: 418.0
Win Rate: 1/1 (1.00)
Record: Win
如使用mediumMaze 布局：
E:\2019reforce_learning\cs188\proj1-search-python3>python pacman.py -l mediumMaze -p SearchAgent -a fn=ucs
[SearchAgent] using function ucs
[SearchAgent] using problem type PositionSearchProblem
Path found with total cost of 68 in 0.3 seconds
Search nodes expanded: 269
Pacman emerges victorious! Score: 442
Average Score: 442.0
Scores: 442.0
Win Rate: 1/1 (1.00)
Record: Win
E:\2019reforce_learning\cs188\proj1-search-python3>python pacman.py -l mediumMaze -p StayEastSearchAgent
Path found with total cost of 1 in 0.2 seconds
Search nodes expanded: 260
Pacman emerges victorious! Score: 436
Average Score: 436.0
Scores: 436.0
Win Rate: 1/1 (1.00)
Record: Win
E:\2019reforce_learning\cs188\proj1-search-python3>python pacman.py -l mediumMaze -p StayWestSearchAgent
Path found with total cost of 17183280440 in 0.2 seconds
Search nodes expanded: 173
Pacman emerges victorious! Score: 358
Average Score: 358.0
Scores: 358.0
Win Rate: 1/1 (1.00)
Record: Win
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