A*算法
1.f(n) = g(n) + h(n)
其中f(n) 是节点n的估价函数,g(n)实在状态空间中从初始节点到n节点的实际代价,h(n)是从n到目 标节点最佳路径的估计代价。
2.
代码
[翻译]A*寻路初探 GameDev.net
http://blog.vckbase.com/panic/archive/2005/03/20/3778.html
[翻译]A*分层寻路
Fixing Pathfinding Once and For All
http://www.ai-blog.net/archives/000152.html
A*(A星)算法(一)
http://hi.baidu.com/%BA%DA%B5%C4%B7%A2%D7%CF/blog/item/60e3483dce5bb8c29e3d62e0.html
初识A*算法
http://blog.csdn.net/zheng80037/archive/2007/06/04/1636953.aspx
[翻译]在A*寻路中使用二叉堆
http://blog.vckbase.com/panic/archive/2005/03/28/4144.html
二叉堆的模板代码--续“关于一道算法题《编写算法,从10亿个浮点数当中,选出其中最大的10000个》”
http://blog.vckbase.com/panic/archive/2006/06/19/20869.html
1.f(n) = g(n) + h(n)
其中f(n) 是节点n的估价函数,g(n)实在状态空间中从初始节点到n节点的实际代价,h(n)是从n到目 标节点最佳路径的估计代价。
2.
Best_First_Search()
{
Open = [起始节点]; Closed = [];
while ( Open表非空 )
{
从Open中取得一个节点X,并从OPEN表中删除。
if (X是目标节点)
{
求得路径PATH;返回路径PATH;
}
for (每一个X的子节点Y)
{
if ( Y不在OPEN表和CLOSE表中 )
{
求Y的估价值;并将Y插入OPEN表中; // 还没有排序
}
else
{
if ( Y在OPEN表中 )
{
if ( Y的估价值小于OPEN表的估价值 )
更新OPEN表中的估价值;
}
else // Y在CLOSE表中
{
if ( Y的估价值小于CLOSE表的估价值 )
{
更新CLOSE表中的估价值;
从CLOSE表中移出节点,并放入OPEN表中;
}
}
}
} // end for
{
Open = [起始节点]; Closed = [];
while ( Open表非空 )
{
从Open中取得一个节点X,并从OPEN表中删除。
if (X是目标节点)
{
求得路径PATH;返回路径PATH;
}
for (每一个X的子节点Y)
{
if ( Y不在OPEN表和CLOSE表中 )
{
求Y的估价值;并将Y插入OPEN表中; // 还没有排序
}
else
{
if ( Y在OPEN表中 )
{
if ( Y的估价值小于OPEN表的估价值 )
更新OPEN表中的估价值;
}
else // Y在CLOSE表中
{
if ( Y的估价值小于CLOSE表的估价值 )
{
更新CLOSE表中的估价值;
从CLOSE表中移出节点,并放入OPEN表中;
}
}
}
} // end for
将X节点插入CLOSE表中;
按照估价值将OPEN表中的节点排序;
} // end while
} // end func
按照估价值将OPEN表中的节点排序;
} // end while
} // end func
g
value can be lowered, and if so, you re-open it.
![](https://i-blog.csdnimg.cn/blog_migrate/81178cc93a2a3bb5048d90d76e7ec935.gif)
OPEN
=
priority queue containing START
CLOSED = empty set
while lowest rank in OPEN is not the GOAL:
current = remove lowest rank item from OPEN
add current to CLOSED
for neighbors of current:
cost = g(current) + movementcost(current, neighbor)
if neighbor in OPEN and cost less than g(neighbor):
remove neighbor from OPEN, because new path is better
if neighbor in CLOSED and cost less than g(neighbor): **
remove neighbor from CLOSED
if neighbor not in OPEN and neighbor not in CLOSED:
set g(neighbor) to cost
add neighbor to OPEN
set priority queue rank to g(neighbor) + h(neighbor)
set neighbor ' s parent to current
reconstruct reverse path from goal to start
by following parent pointers
CLOSED = empty set
while lowest rank in OPEN is not the GOAL:
current = remove lowest rank item from OPEN
add current to CLOSED
for neighbors of current:
cost = g(current) + movementcost(current, neighbor)
if neighbor in OPEN and cost less than g(neighbor):
remove neighbor from OPEN, because new path is better
if neighbor in CLOSED and cost less than g(neighbor): **
remove neighbor from CLOSED
if neighbor not in OPEN and neighbor not in CLOSED:
set g(neighbor) to cost
add neighbor to OPEN
set priority queue rank to g(neighbor) + h(neighbor)
set neighbor ' s parent to current
reconstruct reverse path from goal to start
by following parent pointers
(**) This should never happen if you have an monotone admissible heuristic. However in games we often have inadmissible heuristics.
3.
void
AstarPathfinder::FindPath(
int
sx,
int
sy,
int
dx,
int
dy)
{
NODE * Node, * BestNode;
int TileNumDest;
// 得到目标位置,作判断用
TileNumDest = TileNum(sx, sy);
// 生成Open和Closed表
OPEN = ( NODE * )calloc( 1 , sizeof ( NODE ));
CLOSED = ( NODE * )calloc( 1 , sizeof ( NODE ));
// 生成起始节点,并放入Open表中
Node = ( NODE * )calloc( 1 , sizeof ( NODE ));
Node -> g = 0 ;
// 这是计算h值
Node -> h = (dx - sx) * (dx - sx) + (dy - sy) * (dy - sy); // 此处按道理应用开方
// 这是计算f值,即估价值
Node -> f = Node -> g + Node -> h;
Node -> NodeNum = TileNum(dx, dy);
Node -> x = dx;
Node -> y = dy;
OPEN -> NextNode = Node; // make Open List point to first node
for (;;)
{ // 从Open表中取得一个估价值最好的节点
BestNode = ReturnBestNode();
// 如果该节点是目标节点就退出
if (BestNode -> NodeNum == TileNumDest) // if we've found the
// end, break and finish
break ;
// 否则生成子节点
GenerateSuccessors(BestNode,sx,sy);
}
PATH = BestNode;
}
void AstarPathfinder::GenerateSuccessors(NODE * BestNode, int dx, int dy)
{
int x, y;
// 哦!依次生成八个方向的子节点,简单!
// Upper-Left
if ( FreeTile(x = BestNode -> x - TILESIZE, y = BestNode -> y - TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Upper
if ( FreeTile(x = BestNode -> x, y = BestNode -> y - TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Upper-Right
if ( FreeTile(x = BestNode -> x + TILESIZE, y = BestNode -> y - TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Right
if ( FreeTile(x = BestNode -> x + TILESIZE, y = BestNode -> y) )
GenerateSucc(BestNode,x,y,dx,dy);
// Lower-Right
if ( FreeTile(x = BestNode -> x + TILESIZE, y = BestNode -> y + TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Lower
if ( FreeTile(x = BestNode -> x, y = BestNode -> y + TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Lower-Left
if ( FreeTile(x = BestNode -> x - TILESIZE, y = BestNode -> y + TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Left
if ( FreeTile(x = BestNode -> x - TILESIZE, y = BestNode -> y) )
GenerateSucc(BestNode,x,y,dx,dy);
}
void AstarPathfinder::GenerateSucc(NODE * BestNode, int x, int y, int dx, int dy)
{
int g, TileNumS, c = 0 ;
NODE * Old, * Successor;
// 计算子节点的g值
g = BestNode -> g + 1 ; // g(Successor)=g(BestNode)+cost of getting
// from BestNode to Successor
TileNumS = TileNum(x,y); // identification purposes
// 子节点再Open表中吗?
if ( (Old = CheckOPEN(TileNumS)) != NULL ) // if equal to NULL then
// not in OPEN list, else it returns the Node in Old
{
// 若在
for ( c = 0 ; c < 8 ; c ++ )
if ( BestNode -> Child[c] == NULL ) // Add Old to the list of
// BestNode's Children (or Successors).
break ;
BestNode -> Child[c] = Old;
// 比较Open表中的估价值和当前的估价值(只要比较g值就可以了)
if ( g < Old -> g ) // if our new g value is < Old's then
// reset Old's parent to point to BestNode
{
// 当前的估价值小就更新Open表中的估价值
Old -> Parent = BestNode;
Old -> g = g;
Old -> f = g + Old -> h;
}
}
else // 在Closed表中吗?
{
if ( (Old = CheckCLOSED(TileNumS)) != NULL ) // if equal to NULL then
// not in OPEN list, else it returns the Node in Old
{
// 若在
for ( c = 0 ; c < 8 ; c ++ )
if ( BestNode -> Child[c] == NULL ) // Add Old to the list of
// BestNode's Children (or Successors).
break ;
BestNode -> Child[c] = Old;
// 比较Closed表中的估价值和当前的估价值(只要比较g值就可以了)
if ( g < Old -> g ) // if our new g value is < Old's then
// reset Old's parent to point to BestNode
{
// 当前的估价值小就更新Closed表中的估价值
Old -> Parent = BestNode;
Old -> g = g;
Old -> f = g + Old -> h;
// 再依次更新Old的所有子节点的估价值
PropagateDown(Old); // Since we changed the g value of
// Old,we need to propagate this new
// value downwards, i.e.
// do a Depth-First traversal of the tree!
}
}
else // 不在Open表中也不在Close表中
{
// 生成新的节点
Successor = ( NODE * )calloc( 1 , sizeof ( NODE ));
Successor -> Parent = BestNode;
Successor -> g = g;
Successor -> h = (x - dx) * (x - dx) + (y - dy) * (y - dy); // should do
// sqrt(), but since we don't really
Successor -> f = g + Successor -> h; // care about the distance but
// just which branch looks
Successor -> x = x; // better this should suffice.
// Anyayz it's faster.
Successor -> y = y;
Successor -> NodeNum = TileNumS;
// 再插入Open表中,同时排序。
Insert(Successor); // Insert Successor on OPEN list wrt f
for ( c = 0 ; c < 8 ; c ++ )
if ( BestNode -> Child[c] == NULL ) // Add Old to the
// list of BestNode's Children (or Successors).
break ;
BestNode -> Child[c] = Successor;
}
}
}
{
NODE * Node, * BestNode;
int TileNumDest;
// 得到目标位置,作判断用
TileNumDest = TileNum(sx, sy);
// 生成Open和Closed表
OPEN = ( NODE * )calloc( 1 , sizeof ( NODE ));
CLOSED = ( NODE * )calloc( 1 , sizeof ( NODE ));
// 生成起始节点,并放入Open表中
Node = ( NODE * )calloc( 1 , sizeof ( NODE ));
Node -> g = 0 ;
// 这是计算h值
Node -> h = (dx - sx) * (dx - sx) + (dy - sy) * (dy - sy); // 此处按道理应用开方
// 这是计算f值,即估价值
Node -> f = Node -> g + Node -> h;
Node -> NodeNum = TileNum(dx, dy);
Node -> x = dx;
Node -> y = dy;
OPEN -> NextNode = Node; // make Open List point to first node
for (;;)
{ // 从Open表中取得一个估价值最好的节点
BestNode = ReturnBestNode();
// 如果该节点是目标节点就退出
if (BestNode -> NodeNum == TileNumDest) // if we've found the
// end, break and finish
break ;
// 否则生成子节点
GenerateSuccessors(BestNode,sx,sy);
}
PATH = BestNode;
}
void AstarPathfinder::GenerateSuccessors(NODE * BestNode, int dx, int dy)
{
int x, y;
// 哦!依次生成八个方向的子节点,简单!
// Upper-Left
if ( FreeTile(x = BestNode -> x - TILESIZE, y = BestNode -> y - TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Upper
if ( FreeTile(x = BestNode -> x, y = BestNode -> y - TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Upper-Right
if ( FreeTile(x = BestNode -> x + TILESIZE, y = BestNode -> y - TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Right
if ( FreeTile(x = BestNode -> x + TILESIZE, y = BestNode -> y) )
GenerateSucc(BestNode,x,y,dx,dy);
// Lower-Right
if ( FreeTile(x = BestNode -> x + TILESIZE, y = BestNode -> y + TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Lower
if ( FreeTile(x = BestNode -> x, y = BestNode -> y + TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Lower-Left
if ( FreeTile(x = BestNode -> x - TILESIZE, y = BestNode -> y + TILESIZE) )
GenerateSucc(BestNode,x,y,dx,dy);
// Left
if ( FreeTile(x = BestNode -> x - TILESIZE, y = BestNode -> y) )
GenerateSucc(BestNode,x,y,dx,dy);
}
void AstarPathfinder::GenerateSucc(NODE * BestNode, int x, int y, int dx, int dy)
{
int g, TileNumS, c = 0 ;
NODE * Old, * Successor;
// 计算子节点的g值
g = BestNode -> g + 1 ; // g(Successor)=g(BestNode)+cost of getting
// from BestNode to Successor
TileNumS = TileNum(x,y); // identification purposes
// 子节点再Open表中吗?
if ( (Old = CheckOPEN(TileNumS)) != NULL ) // if equal to NULL then
// not in OPEN list, else it returns the Node in Old
{
// 若在
for ( c = 0 ; c < 8 ; c ++ )
if ( BestNode -> Child[c] == NULL ) // Add Old to the list of
// BestNode's Children (or Successors).
break ;
BestNode -> Child[c] = Old;
// 比较Open表中的估价值和当前的估价值(只要比较g值就可以了)
if ( g < Old -> g ) // if our new g value is < Old's then
// reset Old's parent to point to BestNode
{
// 当前的估价值小就更新Open表中的估价值
Old -> Parent = BestNode;
Old -> g = g;
Old -> f = g + Old -> h;
}
}
else // 在Closed表中吗?
{
if ( (Old = CheckCLOSED(TileNumS)) != NULL ) // if equal to NULL then
// not in OPEN list, else it returns the Node in Old
{
// 若在
for ( c = 0 ; c < 8 ; c ++ )
if ( BestNode -> Child[c] == NULL ) // Add Old to the list of
// BestNode's Children (or Successors).
break ;
BestNode -> Child[c] = Old;
// 比较Closed表中的估价值和当前的估价值(只要比较g值就可以了)
if ( g < Old -> g ) // if our new g value is < Old's then
// reset Old's parent to point to BestNode
{
// 当前的估价值小就更新Closed表中的估价值
Old -> Parent = BestNode;
Old -> g = g;
Old -> f = g + Old -> h;
// 再依次更新Old的所有子节点的估价值
PropagateDown(Old); // Since we changed the g value of
// Old,we need to propagate this new
// value downwards, i.e.
// do a Depth-First traversal of the tree!
}
}
else // 不在Open表中也不在Close表中
{
// 生成新的节点
Successor = ( NODE * )calloc( 1 , sizeof ( NODE ));
Successor -> Parent = BestNode;
Successor -> g = g;
Successor -> h = (x - dx) * (x - dx) + (y - dy) * (y - dy); // should do
// sqrt(), but since we don't really
Successor -> f = g + Successor -> h; // care about the distance but
// just which branch looks
Successor -> x = x; // better this should suffice.
// Anyayz it's faster.
Successor -> y = y;
Successor -> NodeNum = TileNumS;
// 再插入Open表中,同时排序。
Insert(Successor); // Insert Successor on OPEN list wrt f
for ( c = 0 ; c < 8 ; c ++ )
if ( BestNode -> Child[c] == NULL ) // Add Old to the
// list of BestNode's Children (or Successors).
break ;
BestNode -> Child[c] = Successor;
}
}
}
[翻译]A*寻路初探 GameDev.net
http://blog.vckbase.com/panic/archive/2005/03/20/3778.html
[翻译]A*分层寻路
http://blog.vckbase.com/panic/archive/2005/07/21/9906.html
A* Pathfinding for Beginners
http://www.policyalmanac.org/games/aStarTutorial.htm
Pathfinding in World of WarCraft
http://www.ai-blog.net/archives/000152.html
Fixing Pathfinding Once and For All
http://www.ai-blog.net/archives/000152.html
A*(A星)算法(一)
http://hi.baidu.com/%BA%DA%B5%C4%B7%A2%D7%CF/blog/item/60e3483dce5bb8c29e3d62e0.html
初识A*算法
http://blog.csdn.net/zheng80037/archive/2007/06/04/1636953.aspx
[翻译]在A*寻路中使用二叉堆
http://blog.vckbase.com/panic/archive/2005/03/28/4144.html
二叉堆的模板代码--续“关于一道算法题《编写算法,从10亿个浮点数当中,选出其中最大的10000个》”
http://blog.vckbase.com/panic/archive/2006/06/19/20869.html