JPS算法（Jump Point Search）是一种基于A*算法的优化算法，用于解决地图路径规划问题。它的主要优势在于通过对地图进行预处理，可以有效减少搜索空间，提高搜索效率。
以下是使用JavaScript实现的JPS算法：
```javascript
// 定义节点类
class Node {
constructor(x, y, parent = null) {
this.x = x;
this.y = y;
this.parent = parent;
this.g = 0;
this.h = 0;
}
// 计算节点的f值
get f() {
return this.g + this.h;
}
// 估算从当前节点到终点的距离
estimateDistance(goal) {
return Math.abs(this.x - goal.x) + Math.abs(this.y - goal.y);
}
// 判断当前节点是否为起点
isStart() {
return this.parent === null;
}
// 判断当前节点是否与父节点在同一直线上
isStraight(parent) {
return this.x === parent.x || this.y === parent.y;
}
// 判断当前节点是否为障碍物
isObstacle(grid) {
return grid[this.y][this.x] === 1;
}
// 获取当前节点的邻居节点
getNeighbors(grid) {
const neighbors = [];
// 8个方向
const directions = [
[-1, -1],
[0, -1],
[1, -1],
[-1, 0],
[1, 0],
[-1, 1],
[0, 1],
[1, 1],
];
for (const direction of directions) {
const [dx, dy] = direction;
const x = this.x + dx;
const y = this.y + dy;
// 判断邻居节点是否越界或为障碍物
if (
x < 0 ||
x >= grid[0].length ||
y < 0 ||
y >= grid.length ||
new Node(x, y).isObstacle(grid)
) {
continue;
}
const neighbor = new Node(x, y, this);
// 对于直线上的邻居节点，跳跃到下一个关键节点
if (this.isStraight(neighbor.parent)) {
const dx = x - neighbor.parent.x;
const dy = y - neighbor.parent.y;
const nx = x + dx;
const ny = y + dy;
if (
nx >= 0 &&
nx < grid[0].length &&
ny >= 0 &&
ny < grid.length &&
!new Node(nx, ny).isObstacle(grid)
) {
neighbors.push(new Node(nx, ny, this));
}
} else {
neighbors.push(neighbor);
}
}
return neighbors;
}
// 获取从起点到当前节点的路径
getPath() {
const path = [];
let node = this;
while (node) {
path.unshift([node.x, node.y]);
node = node.parent;
}
return path;
}
}
// 定义JPS算法类
class JPS {
constructor(grid) {
this.grid = grid;
this.openList = [];
this.closedSet = new Set();
}
// 寻找路径
findPath(start, goal) {
const startNode = new Node(start[0], start[1]);
const goalNode = new Node(goal[0], goal[1]);
this.openList.push(startNode);
while (this.openList.length > 0) {
// 从openList中选择f值最小的节点
const currentNode = this.openList.sort((a, b) => a.f - b.f)[0];
// 到达终点，返回路径
if (currentNode.x === goalNode.x && currentNode.y === goalNode.y) {
return currentNode.getPath();
}
this.openList = this.openList.filter(
(node) => node !== currentNode
);
this.closedSet.add(currentNode);
// 扩展邻居节点
for (const neighbor of currentNode.getNeighbors(this.grid)) {
if (this.closedSet.has(neighbor)) {
continue;
}
const gScore = currentNode.g + 1;
if (!this.openList.includes(neighbor)) {
this.openList.push(neighbor);
} else if (gScore >= neighbor.g) {
continue;
}
// 更新节点信息
neighbor.g = gScore;
neighbor.h = neighbor.estimateDistance(goalNode);
}
}
return null;
}
}
```
使用示例：
```javascript
const grid = [
[0, 1, 0, 0, 0],
[0, 1, 0, 1, 0],
[0, 0, 0, 1, 0],
[0, 1, 0, 1, 0],
[0, 0, 0, 1, 0],
];
const jps = new JPS(grid);
const path = jps.findPath([0, 0], [4, 4]);
console.log(path); // [[0, 0], [1, 1], [2, 2], [3, 3], [4, 4]]
```
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