路径规划A*算法 JAVA实现

最新推荐文章于 2024-09-22 20:58:24 发布

猿气

最新推荐文章于 2024-09-22 20:58:24 发布

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分类专栏： datastructure

本文链接：https://blog.csdn.net/weixin_41395565/article/details/85637450

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本文介绍了A*路径搜索算法的基本原理，并展示了如何在JAVA中实现这一经典算法，通过结合实际代价G和预估代价H来寻找最优路径。

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A*是路径搜索中最受欢迎的选择:

路径代价的估算： F = G+H

package com.bit.pathplanning;
/**
 *  地图网格节点类
 * @author Hao
 *
 */
public class MapNode {
	private double x;
	private double y;
	private double G;
	private double F;
	private double H;
	private MapNode fatherNode;
	private boolean reachable;
	public MapNode(){
	}
	
	public MapNode(double x,double y){
		this.x = x;
		this.y = y;
		G = 0;
		F = 0;
		H = 0;
		fatherNode = null;
		reachable = true;
	}
 
	@Override
	public String toString() {
		return "MapNode [x=" + x + ", y=" + y + ", reachable=" + reachable + "]";
	}
 
	public double getX() {
		return x;
	}
 
	public double getY() {
		return y;
	}
 
	public boolean isReachable() {
		return reachable;
	}
 
	public void setReachable(boolean reachable) {
		this.reachable = reachable;
	}
 
	public MapNode getFatherNode() {
		return fatherNode;
	}
 
	public void setFatherNode(MapNode fatherNode) {
		this.fatherNode = fatherNode;
		this.F = fatherNode.F + this.distanceTo(fatherNode);
		this.G = this.F + this.H;
	}
	
	/**
	 * 计算H值
	 */
	public double calH(MapNode fatherNode){
		double distance = 0.0;
		if(fatherNode.x == this.x)
			distance = Math.abs(fatherNode.y - this.y);
		else if(fatherNode.y == this.y)
			distance = Math.abs(fatherNode.x - this.x);
		else
			distance = 1.414*Math.abs(fatherNode.y - this.y);
		return fatherNode.H + distance;
	}
	
	public double distanceTo(MapNode to){
		return Math.sqrt((x-to.x)*(x-to.x) + (y-to.y)*(y-to.y));
	}
 
	
	public void setH(MapNode node){
		H = this.distanceTo(node);
	}
	
	public double getH() {
		return H;
	}
 
	public double getG() {
		return G;
	}
	
	
	
	@Override
	public int hashCode() {
		final int prime = 31;
		int result = 1;
		long temp;
		temp = Double.doubleToLongBits(x);
		result = prime * result + (int) (temp ^ (temp >>> 32));