Dijkstra算法

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最新推荐文章于 2024-09-27 11:17:47 发布

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分类专栏：路径规划文章标签：算法机器人学习

本文链接：https://blog.csdn.net/m0_53316604/article/details/129752126

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Dijkstra算法是一种用于寻找图中两点间最短路径的算法，它通过优先队列存储待展开节点，并始终保持到起点的最低累积成本。在每次迭代中，算法会标记并更新最近发现的节点，直到目标节点被找到。尽管Dijkstra算法能保证找到最优解，但它无法预知目标位置信息，只能按当前累积成本顺序探索所有可能的路径。

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Dijkstra

2.2.1 Dijkstra（priority queue）

1）Strategy: expand/visit the node with cheapest accumulated cost g(n)

• g(n): The current best estimates of the accumulated cost from the start state to node “n”
（从开始状态到节点“n”的累积成本的当前最佳估计）
• Update the accumulated costs g(m) for all unexpanded neighbors “m” of node “n”
（更新节点“n”的所有未展开邻居“m”的累计代价g(m)）
• A node that has been expanded/visited is guaranteed to have the smallest cost from the start state
（已展开/访问的节点保证从开始状态起具有最小的开销）

2）Dijkstra’s Algorithm

• Maintain a priority queue to store all the nodes to be expanded
• The priority queue is initialized with the start state XS
• Assign g(XS)=0, and g(n)=infinite for all other nodes in the graph
• Loop
	*• If the queue is empty, return FALSE; break;*
	*• Remove the node “n” with the lowest g(n) from the priority queue （=open list 相反的是已经扩展的close list）*
	*• Mark node “n” as expanded*
	*• If the node “n” is the goal state, return TRUE; break;*
	*• For all unexpanded neighbors “m” of node “n”*
		*• If g(m) = infinite*
			*• g(m)= g(n) + Cnm*
			*• Push node “m” into the queue*
		*• If g(m) > g(n) + Cnm*
			*• g(m)= g(n) + Cnm*
	*• end*
• End Loop

在这里插入图片描述

	1	2
open list	g(s)=0	g§=1,g(d)=3,g(e)=9
close list		g(s)=0

3	4	5
g(d)=3,g(e)=9,g(q)=15	~~g(e)=9~~,g(b)=4,g(e)=5,g(c )=11,g(q)=15	g(e)=5,g(a)=6,g(c )=11,g(q)=15
g(s)=0,g(p )=1	g(s)=0,g( p)=1,g(d)=3	g(s)=0,g(p )=1,g(d)=3,g(b)=4

6	7	8
g(a)=6,g( r)=6,g(c )=11,g(h)=13,g(q)=15	g(r )=6,g(c )=11,g(h)=13,g(q)=15	g(f)=7,g( c)=11,g(h)=13,g(q)=15
g(s)=0,g(p )=1,g(d)=3,g(b)=4,g(e)=5	g(s)=0,g(p )=1,g(d)=3,g(b)=4,g(e)=5,g(a)=6	g(s)=0,g(p )=1,g(d)=3,g(b)=4,g(e)=5,g(a)=6,g( r)=6

9	10
g(G)=9,g(c )=11,g(h)=13,g(q)=15	g( c)=11,g(h)=13,g(q)=15
g(s)=0,g(p )=1,g(d)=3,g(b)=4,g(e)=5,g(a)=6,g( r)=6,g(f)=7	g(s)=0,g(p )=1,g(d)=3,g(b)=4,g(e)=5,g(a)=6,g(r )=6,g(f)=7,g(G)=9	找到终点，结束

3）Pros and Cons of Dijkstra’s Algorithm

The good:
• Complete and optimal
The bad:
• Can only see the cost accumulated so far (i.e. the uniform cost), thus exploring next state in every “direction”
（只能看到到目前为止累积的成本(即统一成本)，然后从各个“方向”探索下一个状态）
• No information about goal location
（没有目标位置的信息）

在这里插入图片描述