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    https://gitcode.net/lazyn1997/CSDN_blog_code/-/commit/139bfc4f9a8d46f57b9a4783403026629dec8914 Create A star.py 2023-07-07T09:14:03+08:00 lazyn1997 34644177+lazyn1997@users.noreply.github.com https://gitcode.net/lazyn1997/CSDN_blog_code/-/commit/11ccd9bfd1a620ffb4701ccde03df1bfb4b5bc5a Update A star.py 2023-07-07T09:14:44+08:00 lazyn1997 34644177+lazyn1997@users.noreply.github.com https://gitcode.net/lazyn1997/CSDN_blog_code/-/commit/c1cdc690e1d022842390f363aec604ebbaa788e3 delete invalid path 2023-07-07T09:15:19+08:00 lazyn1997 34644177+lazyn1997@users.noreply.github.com
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课后作业/机器学习/A*算法迷宫寻路/AStar.py → 课后作业/机器学习/A_star算法迷宫寻路/A star.py
浏览文件 @ c1cdc690
# -*- coding: utf-8 -*-
"""
Created on Sat Nov 24 16:47:38 2018
@author: 魅梦
"""
import numpy as np
import time
def h1(i, j):
return 10 * (abs(i - endx) + abs(j - endy))
def h2(i, j):
return pow(i - endx, 2) + pow(j - endy, 2)
def gs(i, j):
return abs(i - startx) + abs(j - starty)
# a = np.mat(np.random.randint(0, 2, size=[10, 10]))
a = np.mat([[0, 0, 0, 0, 0],
[1, 0, 1, 0, 1],
[0, 1, 1, 0, 1],
[0, 1, 1, 0, 0],
[0, 0, 0, 1, 0]])
# a = np.mat([[0, 0, 0, 0, 0],
# [1, 0, 1, 0, 1],
# [0, 0, 1, 1, 1],
# [0, 1, 0, 0, 0],
# [0, 0, 0, 1, 0]])
# a = np.mat([[0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1],
# [0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1],
# [0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 1],
# [0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1],
# [1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1],
# [0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1],
# [0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1],
# [1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 1],
# [0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 1],
# [0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0],
# [0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1],
# [0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1],
# [0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0],
# [0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1],
# [1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
# [0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
# [0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0],
# [0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
# [1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0],
# [0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0]])
print("地图为：（1表示墙，0表示路）")
for l in range(len(a)):
for m in range(a[0].size):
print(a[l, m], end=' ')
print('')
print('')
startx, starty = 1, 1
endx, endy = 4, 4
if a[startx - 1, starty - 1] == 1:
print("起点%s位置为墙，最短路径寻找失败！" % ([startx, starty]))
else:
# 存储已扩展结点，即所有寻找的节点
Close = [[startx, starty]]
# 存储已生成节点，即最终走过的节点
Opens = [[startx, starty]]
# 存储未走的分叉节点
crossings = []
# 设置在原地图行走的路径值
road = 100
start = time.time()
rows, cols = a.shape
while True:
# 判断最后走过的节点是否为终点
if Close[-1] != [endx, endy]:
Open = []
# 减1得到数组下标值
i, j = Close[-1][0] - 1, Close[-1][1] - 1
# 对当前节点上下左右四个节点进行判断
for ni, nj in [(i - 1, j), (i + 1, j), (i, j - 1), (i, j + 1)]:
if [ni + 1, nj + 1] not in Opens and 0 <= ni < rows and 0 <= nj < cols and a[ni, nj] == 0:
Open.append([ni + 1, nj + 1])
# 将已走过的节点值修改为路径值，并将路径值加1
a[i, j] = road
road = road + 1
if Open:
# 对所有扩展到的节点进行排序，reverse=True 结果从大到小，即尾部存储代价最小的节点
Open = sorted(Open, key=lambda x: gs(x[0], x[1]) + h2(x[0], x[1]), reverse=True)
Opens.extend(Open)
# 将代价最小的节点存储到 Close 表
Close.append(Open.pop())
# 如果 pop 后 Open 表不为空，说明存在岔路，将岔路存储到 crossings 中
if Open:
crossings.extend(Open)
# 判断是否存在未走过的分叉节点
elif crossings:
next_way = crossings.pop()
# 实现路径回退，循环条件为回退节点与分叉节点不相邻
while sum((np.array(Close[-1]) - np.array(next_way)) ** 2) != 1:
# 当一条路径寻找失败后，是否将该路径岔路后的部分恢复为原地图
# i, j = Close[-1]
# a[i-1, j-1] = 0
# 每次 while 循环路径值 road 减1，并弹出 Close 表中的节点
road -= 1
Close.pop()
# 将 crossings 中最后一个节点添加到 Close 表
Close.append(next_way)
else:
print("最短路径寻找失败，失败位置为：%s，路径为：" % Close[-1])
break
else:
a[endx - 1, endy - 1] = road
print("最短路径寻找成功，路径为：")
break
for r in range(rows):
for c in range(cols):
# 0表示format中第一个元素，>表示右对齐输出，4表示占四个字符
print("{0: >4}".format(a[r, c]), end='')
print('')
end = time.time()
print("\n扩展节点数为：%d, 生成节点数为：%d, 用时为 %.8f" % (len(Opens), len(Close), float(end - start)))
print('Close表为：%s' % Close)
print("点的移动轨迹为：")
for k in range(len(Close)):
print(Close[k], end='')
if k < len(Close) - 1:
print("-->", end='')
# -*- coding: utf-8 -*-
"""
Created on Sat Nov 24 16:47:38 2018
@author: 魅梦
"""
import numpy as np
import time
def h1(i, j):
return 10 * (abs(i - endx) + abs(j - endy))
def h2(i, j):
return pow(i - endx, 2) + pow(j - endy, 2)
def gs(i, j):
return abs(i - startx) + abs(j - starty)
# a = np.mat(np.random.randint(0, 2, size=[10, 10]))
a = np.mat([[0, 0, 0, 0, 0],
[1, 0, 1, 0, 1],
[0, 1, 1, 0, 1],
[0, 1, 1, 0, 0],
[0, 0, 0, 1, 0]])
# a = np.mat([[0, 0, 0, 0, 0],
# [1, 0, 1, 0, 1],
# [0, 0, 1, 1, 1],
# [0, 1, 0, 0, 0],
# [0, 0, 0, 1, 0]])
# a = np.mat([[0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1],
# [0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1],
# [0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 1],
# [0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1],
# [1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1],
# [0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1],
# [0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1],
# [1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 1],
# [0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 1],
# [0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0],
# [0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1],
# [0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1],
# [0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0],
# [0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1],
# [1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
# [0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
# [0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0],
# [0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
# [1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0],
# [0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0]])
print("地图为：（1表示墙，0表示路）")
for l in range(len(a)):
for m in range(a[0].size):
print(a[l, m], end=' ')
print('')
print('')
startx, starty = 1, 1
endx, endy = 4, 4
if a[startx - 1, starty - 1] == 1:
print("起点%s位置为墙，最短路径寻找失败！" % ([startx, starty]))
else:
# 存储已扩展结点，即所有寻找的节点
Close = [[startx, starty]]
# 存储已生成节点，即最终走过的节点
Opens = [[startx, starty]]
# 存储未走的分叉节点
crossings = []
# 设置在原地图行走的路径值
road = 100
start = time.time()
rows, cols = a.shape
while True:
# 判断最后走过的节点是否为终点
if Close[-1] != [endx, endy]:
Open = []
# 减1得到数组下标值
i, j = Close[-1][0] - 1, Close[-1][1] - 1
# 对当前节点上下左右四个节点进行判断
for ni, nj in [(i - 1, j), (i + 1, j), (i, j - 1), (i, j + 1)]:
if [ni + 1, nj + 1] not in Opens and 0 <= ni < rows and 0 <= nj < cols and a[ni, nj] == 0:
Open.append([ni + 1, nj + 1])
# 将已走过的节点值修改为路径值，并将路径值加1
a[i, j] = road
road = road + 1
if Open:
# 对所有扩展到的节点进行排序，reverse=True 结果从大到小，即尾部存储代价最小的节点
Open = sorted(Open, key=lambda x: gs(x[0], x[1]) + h2(x[0], x[1]), reverse=True)
Opens.extend(Open)
# 将代价最小的节点存储到 Close 表
Close.append(Open.pop())
# 如果 pop 后 Open 表不为空，说明存在岔路，将岔路存储到 crossings 中
if Open:
crossings.extend(Open)
# 判断是否存在未走过的分叉节点
elif crossings:
next_way = crossings.pop()
# 实现路径回退，循环条件为回退节点与分叉节点不相邻
while sum((np.array(Close[-1]) - np.array(next_way)) ** 2) != 1:
# 当一条路径寻找失败后，是否将该路径岔路后的部分恢复为原地图
# i, j = Close[-1]
# a[i-1, j-1] = 0
# 每次 while 循环路径值 road 减1，并弹出 Close 表中的节点
road -= 1
Close.pop()
# 将 crossings 中最后一个节点添加到 Close 表
Close.append(next_way)
else:
print("最短路径寻找失败，失败位置为：%s，路径为：" % Close[-1])
break
else:
a[endx - 1, endy - 1] = road
print("最短路径寻找成功，路径为：")
break
for r in range(rows):
for c in range(cols):
# 0表示format中第一个元素，>表示右对齐输出，4表示占四个字符
print("{0: >4}".format(a[r, c]), end='')
print('')
end = time.time()
print("\n扩展节点数为：%d, 生成节点数为：%d, 用时为 %.8f" % (len(Opens), len(Close), float(end - start)))
print('Close表为：%s' % Close)
print("点的移动轨迹为：")
for k in range(len(Close)):
print(Close[k], end='')
if k < len(Close) - 1:
print("-->", end='')