java a星算法_JAVA版A星算法实现

1 importjava.util.ArrayDeque;2 importjava.util.ArrayList;3 importjava.util.Collections;4 importjava.util.HashMap;5 importjava.util.Iterator;6 importjava.util.Map.Entry;7 importjava.util.Queue;8

9 public classTestPath {10 class Point implements Comparable{11 intx; // 坐标x12 inty; // 坐标y13 int f = 200; // 估值数 f = g + h14 int g = 100;　　// 与父节点的距离15 int h = 100;　　// 与目标点的距离16 booleancanWalk;　　// 是否可以通行17 Point parent = null;18

19 Point(int x, int y, booleancanWalk) {20 this.x =x;21 this.y =y;22 this.canWalk =canWalk;23 }24

25 @Override26 public intcompareTo(Point o) {27 return new Integer(f).compareTo(newInteger(o.f));28 }29

30 }31

32 public static voidmain(String[] args) {33 int arr[][] = { { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},34 { 0, 0, 0, 1, 0, 0, 0, 0, 0, 0},35 { 0, 0, 0, 1, 0, 0, 0, 0, 0, 0},36 { 0, 0, 0, 1, 1, 0, 0, 0, 0, 0},37 { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},38 { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},39 { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},40 { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},41 { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},42 { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} };43 Point[][] paths = new Point[10][10];

// 生成路径对象数组44 for (int i = 0; i < 10; i++) {45 for (int j = 0; j < 10; j++) {46 boolean canWalk = arr[i][j] == 1 ? false : true;47 paths[i][j] = new TestPath().newPoint(i, j, canWalk);48 }49 }

// 起始点50 Point bp = paths[0][0];

// 目标点51 Point ep = paths[2][4];52 AStart(paths, bp, ep);53 Point tmp =ep;54 while (tmp.parent !=bp) {55 tmp =tmp.parent;56 System.out.println(tmp.x + "," +tmp.y);57 }58

59 }60

61 static voidAStart(Point[][] paths, Point beginP, Point endP) {

// 待遍历列表62 ArrayList openList = new ArrayList<>(100);63 beginP.g = 0;64 beginP.h = (Math.abs(beginP.x - endP.x) + Math.abs(beginP.y - endP.y)) * 10;65 beginP.f = beginP.g +beginP.h;66 endP.h = 0;67 openList.add(beginP);68 ArrayList closeList = new ArrayList<>(100);69 //Iterator iter = openList.iterator();

70 while (openList.size() != 0) {71 Point p = openList.get(0);72 System.out.println("p: x="+p.x + ",y="+p.y + ",g="+p.g + ",h="+ p.h +",f="+p.f);73 if (p.h == 0) {74 System.out.println("=========end===========");75 System.out.println(p.x + "," +p.y);76 return;77 }

// 遍历周边相邻路径78 for (int i = -1; i <= 1; i++) {79 for (int j = -1; j <= 1; j++) {80 if (p.x + i < 0 || p.x + i > 9 || p.y + j < 0 || p.y + j > 9) { //超出地图范围

81 continue;82 }83 if (i == 0 && j == 0) { //本身

84 continue;85 }86 Point tmp = paths[p.x + i][p.y +j];

// 如果已经遍历过了，跳过87 if (!tmp.canWalk ||closeList.contains(tmp)) {88 continue;89 }

// 下一个路径点的g值，相邻的加10，对角的加14(10和14是自己定义的值)90 int newG = 0;91 if ( i != 0 && j != 0) {92 newG = p.g + 14;93 } else{94 newG = p.g + 10;95 }96 System.out.println("newg="+newG);

// 下一个路径点与目标点的h值97 tmp.h = (Math.abs(tmp.x - endP.x) + Math.abs(tmp.y - endP.y)) * 10;98 if(openList.contains(tmp)) {99 if (tmp.g >newG) { // 在待遍历列表中，并且与当前的路径点距离更近，则更换上级路径点100 tmp.parent =p;101 tmp.g =newG;102 tmp.f = tmp.g +tmp.h;103 }104 } else{// 加入待遍历列表105 tmp.parent =p;106 tmp.g =newG;107 openList.add(tmp);108 }109 tmp.f = tmp.g +tmp.h; // 更新f值110 System.out.println(tmp.x + "," + tmp.y + "," + tmp.g+","+tmp.h+","+tmp.f+",("+tmp.parent.x + ","+ tmp.parent.y+")");111 }112 }

// 遍历完之后从待遍历列表中移除，加入到已遍历列表中113 closeList.add(p);114 openList.remove(p);

// 按f值排序115 Collections.sort(openList);116 //iter = openList.iterator();

117 }118 }119

120 }