A*算法解决迷宫寻路问题
问题描述
下图是一个迷宫,试为机器人找一条从Start到End的最短路径设计一搜索算法
设计思路
a)状态空间的表示
首先将迷宫图转换为列表形式呈现,每个格子用
(横坐标,纵坐标,上通路状态,下通路状态,左通路状态,右通路状态)来表示,通路状态用1或0表示,可通过为1,不可通过为0。比如起点(1,1),假定不能从起点出去,所以(1,1)可以走下或走右,所以第一格的状态表示为(1,1,0,1,0,1)。
整张迷宫图的状态表示为:
同时每一步操作都记录在列表中,比如向下移动一格后,列表元素变为[(1,2,1,1,0,1),(1,1,0,1,0,0)]。
b)操作集
该问题通过“上,下,左,右”四个方向进行下一节点的生成和移动,同时通过四个方向的通路状态来判断下一方向节点是否可通过,以此来限制节点的生成。
c)算法使用策略
使用A*算法,估价函数使用h(n) = A * B(A为横坐标,B为纵坐标),用h(n)递减重排open表,同时对生成节点进行是否重复判断。 为清楚起见,每一格子均以其右下角坐标(x,y)为标志。如start格用(1,1),end格用(7,6)标志。
完整代码
def GJ(this):#估价函数计算 h(n) = A*B
return this[0] * this[1]
def Judge(this,p):
this_copy = this[:]
this_copy.insert(0,p)
for i in open:
for x in i:
if p == x:
return
for i in closed:
for x in i:
if p == x:
return
open.append(this_copy)
return
def found(k,array):
for i in array:
if i[0:2]== k:
return i
if __name__ == '__main__':
M = [(1,1,0,1,0,0),(2,1,0,0,1,1),(3,1,0,0,1,0),(4,1,0,1,0,1),(5,1,0,0,1,0),(6,1,0,1,0,1,),(7,1,0,0,1,0),
(1,2,1,1,0,1),(2,2,0,1,1,1),(3,2,0,0,1,1),(4,2,1,1,1,0),(5,2,0,0,0,1),(6,2,1,1,1,1),(7,2,0,1,1,0),
(1,3,1,1,0,0),(2,3,1,1,0,1),(3,3,0,1,1,0),(4,3,1,0,0,1),(5,3,0,0,1,0),(6,3,1,1,0,0),(7,3,1,0,0,0),
(1,4,1,0,0,0),(2,4,1,1,0,0),(3,4,1,0,0,1),(4,4,0,0,1,1),(5,4,0,1,1,0),(6,4,1,1,0,1),(7,4,0,1,1,0),
(1,5,0,1,0,1),(2,5,1,1,1,0),(3,5,0,1,0,0),(4,5,0,1,0,1),(5,5,1,0,1,0),(6,5,1,1,0,0),(7,5,1,1,0,0),
(1,6,1,0,0,1),(2,6,0,0,1,1),(3,6,1,0,1,0),(4,6,1,0,0,1),(5,6,0,0,1,1),(6,6,1,0,1,0),(7,6,1,1,0,0)]
start = M[0]
end = M[-1]
open = [] #创建open表
closed = [] #创建closed表
open.append([start])
while(1):
if len(open) == 0:
print("未搜索到解!")
break
else:
this = open.pop(0)
closed.append(this)
if this[0] == end:
print("路线寻找成功!")
print('迷宫寻找出口路线:')
for i in this[::-1]:
print('-->',i[0:2])
exit()
#扩展节点
#向上寻找
if this[0][2] == 1:
change1 = this[0][0]
change2 = this[0][1]-1
k = (change1,change2)
p = found(k,M)
Judge(this,p)
# 向下寻找
if this[0][3] == 1:
change1 = this[0][0]
change2 = this[0][1] + 1
k = (change1,change2)
p = found(k,M)
Judge(this,p)
# 向左寻找
if this[0][4] == 1:
change1 = this[0][0] - 1
change2 = this[0][1]
k = (change1,change2)
p = found(k,M)
Judge(this,p)
# 向右寻找
if this[0][5] == 1:
change1 = this[0][0] + 1
change2 = this[0][1]
k = (change1,change2)
p = found(k,M)
Judge(this,p)
#计算估计函数h(n) = A*B 重排open表
for x in range(0,len(open)-1):
m = x
for y in range(x+1,len(open)):
if GJ(open[x][0]) < GJ(open[y][0]):
m = y
if m != x:
open[x],open[m] = open[m],open[x]