我一直在研究一些代码来指导一个“机器人”通过一个有多个死角的迷宫和一条正确的目标路径,如下所示:
我已经使用了一个堆栈来记录机器人第一次到达一个有3或4个可能出口的正方形时所面对的方向,如果所有相邻的正方形都已被访问过,则使用pop()使机器人从第一个方向返回来自(到达方向对面) . 在运行结束时,堆栈包含到达目标路径上的所有方块的方向 . 沿着堆叠的相反方向将机器人从目标返回到起点 . 我正在努力找出如何使用这个堆栈,以便在下一次运行时机器人将采取最佳路径来达到目标 .
我的一些代码:
private int pollRun = 0; // Incremented after each pass
private int explorerMode; // 1 = explore, 0 = backtrack
public void exploreControl(IRobot robot) {
byte exits = nonwallExits(robot);
int direction;
switch (exits) { //passes control to respective method
case 1: direction = deadEnd(robot); break;
case 2: direction = corridor(robot); break;
case 3: direction = junction(robot); break;
default: direction = crossroads(robot); break;
}
if (exits == 1) {explorerMode = 0;}
robot.face(direction);
pollRun++;
}
public void backtrackControl(IRobot robot) {
byte exits = nonwallExits(robot);
int direction = IRobot.CENTRE;
switch (exits) { //passes control to respective method
case 1: direction = deadEnd(robot); break;
case 2: direction = corridor(robot); break;
default: direction = junction(robot); break; // do nothing
}
if (exits > 2) {
if (passageExits(robot) > 0){
exploreControl(robot);
explorerMode = 1;
pollRun++;
return;
} else {
robot.setHeading(st.pop());
robot.face(IRobot.BEHIND);
pollRun++;
return;
}
}
robot.face(direction);
pollRun++;
}
public void optimal(IRobot robot) {
byte exits = nonwallExits(robot);
int direction;
int heading;
for(int i = 0; i < st.size(); i++) {
stNew.push(st.pop());
}
if (exits < 3) {
switch (exits) { //passes control to respective method
case 1: direction = deadEnd(robot); break;
default: direction = corridor(robot); break;
}
robot.face(direction);
} else {
robot.setHeading(stNew.pop());
}
}
public void controlRobot(IRobot robot) {
if ((robot.getRuns() == 0) && (pollRun == 0)) {
robotData = new RobotData(); //reset the data store
explorerMode = 1;
}
if (robot.getRuns() = 1) {
optimal(robot);
return;
}
if (robot.getRuns() <= 0 && (nonwallExits(robot) >= 3)
&& (beenbeforeExits(robot) <= 0)) {
st.push(robot.getHeading());
}
if (explorerMode == 1) {
exploreControl(robot);
} else {backtrackControl(robot);}
}
最佳方法显示了我尝试解决它,但它所做的只是让机器人在每个交叉点直线前进
比如这个迷宫,
会留下我的堆栈:EAST,EAST,SOUTH,SOUTH,EAST,SOUTH,SOUTH,EAST,EAST,SOUTH,SOUTH,EAST,EAST,EAST,SOUTH,EAST,SOUTH