Java A*算法没有到处寻找
我的问题是，现在java中的A*算法只能在从上到下和从左到右的情况下找到路径。我希望代码能够在决定移动到哪里之前检查左上下右，而不仅仅是右下。你们能帮帮我吗？这是我的密码Java A*算法没有到处寻找,java,algorithm,a-star,Java,Algorithm,A Star,我的问题是，现在java中的A*算法只能在从上到下和从左到右的情况下找到路径。我希望代码能够在决定移动到哪里之前检查左上下右，而不仅仅是右下。你们能帮帮我吗？这是我的密码 public class PathFinder extends AStar<PathFinder.Node>{ private int[][] map; public static class Node{ pu
public class PathFinder extends AStar<PathFinder.Node>{
private int[][] map;
public static class Node{
public int x;
public int y;
Node(int x, int y){
this.x = x;
this.y = y;
}
public String toString(){
return "(" + x + ", " + y + ") ";
}
}
public PathFinder(int[][] map){
this.map = map;
}
protected boolean isGoal(Node node){
return (node.x == map[0].length - 1) && (node.y == map.length - 1);
}
protected Double g(Node from, Node to){
if(from.x == to.x && from.y == to.y)
return 0.0;
if(map[to.y][to.x] == 1)
return 1.0;
return Double.MAX_VALUE;
}
protected Double h(Node from, Node to){
/* Use the Manhattan distance heuristic. */
return new Double(Math.abs(map[0].length - 1 - to.x) + Math.abs(map.length - 1 - to.y));
}
protected List<Node> generateSuccessors(Node node){
List<Node> ret = new LinkedList<Node>();
int x = node.x;
int y = node.y;
if(y < map.length - 1 && map[y+1][x] == 1)
ret.add(new Node(x, y+1));
if(x < map[0].length - 1 && map[y][x+1] == 1)
ret.add(new Node(x+1, y));
return ret;
}
public static void main(String [] args){
int [][] map = new int[][]{
{1, 0, 1, 0, 1, 0 ,1 ,0, 1, 0 ,1, 0},
{1, 1, 1, 1, 1, 1, 1 ,1 ,1 ,1, 1 ,1},
{1, 1, 1, 0, 1, 1 ,1, 1, 1 ,0, 1 ,0},
{0, 1, 1, 1, 1, 1 ,0, 1, 0, 1, 1 ,1},
{0, 0, 1, 1, 1, 0 ,1, 1 ,1, 1, 0 ,0},
{0, 1, 0, 1, 0, 0, 1, 1, 1, 1 ,1, 1},
{1, 1, 1, 1, 1, 1, 1 ,0 ,1 ,0, 1, 0},
{1, 0, 0, 0, 1, 0 ,1, 1 ,1 ,0 ,1 ,1},
{1, 1, 0, 1, 1, 0 ,1 ,0 ,1, 1, 1, 0},
{1, 1, 1, 1, 0, 1, 1 ,1 ,0 ,1, 1 ,1},
{1, 0, 1, 1, 1, 1, 0, 1, 1 ,0 ,1, 0},
{1, 0, 1, 0, 1, 1, 0 ,1, 0, 1, 1 ,1}
};
PathFinder pf = new PathFinder(map);
System.out.println("Find a path from the top left corner to the right bottom one.");
for(int i = 0; i < map.length; i++){
for(int j = 0; j < map[0].length; j++)
System.out.print(map[i][j] + " ");
System.out.println();
}
long begin = System.currentTimeMillis();
List<Node> nodes = pf.compute(new PathFinder.Node(0,0));
long end = System.currentTimeMillis();
System.out.println("Time = " + (end - begin) + " ms" );
System.out.println("Expanded = " + pf.getExpandedCounter());
System.out.println("Cost = " + pf.getCost());
if(nodes == null)
System.out.println("No path");
else{
System.out.print("Path = ");
for(Node n : nodes)
System.out.print(n);
System.out.println();
}
}
}
- 更改
，将generateSuccessors
和节点（x-1，y）
添加到列表中节点（x，y-1） - 更改
以维护已访问的节点集，以确保不会访问节点两次展开
public abstract class AStar<T>{
private class Path implements Comparable{
public T point;
public Double f;
public Double g;
public Path parent;
/**
* Default c'tor.
*/
public Path(){
parent = null;
point = null;
g = f = 0.0;
}
/**
* C'tor by copy another object.
*
* @param p The path object to clone.
*/
public Path(Path p){
this();
parent = p;
g = p.g;
f = p.f;
}
/**
* Compare to another object using the total cost f.
*
* @param o The object to compare to.
* @see Comparable#compareTo()
* @return <code>less than 0</code> This object is smaller
* than <code>0</code>;
* <code>0</code> Object are the same.
* <code>bigger than 0</code> This object is bigger
* than o.
*/
public int compareTo(Object o){
Path p = (Path)o;
return (int)(f - p.f);
}
/**
* Get the last point on the path.
*
* @return The last point visited by the path.
*/
public T getPoint(){
return point;
}
/**
* Set the
*/
public void setPoint(T p){
point = p;
}
}
/**
* Check if the current node is a goal for the problem.
*
* @param node The node to check.
* @return <code>true</code> if it is a goal, <code>false</else> otherwise.
*/
protected abstract boolean isGoal(T node);
/**
* Cost for the operation to go to <code>to</code> from
* <code>from</from>.
*
* @param from The node we are leaving.
* @param to The node we are reaching.
* @return The cost of the operation.
*/
protected abstract Double g(T from, T to);
/**
* Estimated cost to reach a goal node.
* An admissible heuristic never gives a cost bigger than the real
* one.
* <code>from</from>.
*
* @param from The node we are leaving.
* @param to The node we are reaching.
* @return The estimated cost to reach an object.
*/
protected abstract Double h(T from, T to);
/**
* Generate the successors for a given node.
*
* @param node The node we want to expand.
* @return A list of possible next steps.
*/
protected abstract List<T> generateSuccessors(T node);
private PriorityQueue<Path> paths;
private HashMap<T, Double> mindists;
private Double lastCost;
private int expandedCounter;
/**
* Check how many times a node was expanded.
*
* @return A counter of how many times a node was expanded.
*/
public int getExpandedCounter(){
return expandedCounter;
}
/**
* Default c'tor.
*/
public AStar(){
paths = new PriorityQueue<Path>();
mindists = new HashMap<T, Double>();
expandedCounter = 0;
lastCost = 0.0;
}
/**
* Total cost function to reach the node <code>to</code> from
* <code>from</code>.
*
* The total cost is defined as: f(x) = g(x) + h(x).
* @param from The node we are leaving.
* @param to The node we are reaching.
* @return The total cost.
*/
protected Double f(Path p, T from, T to){
Double g = g(from, to) + ((p.parent != null) ? p.parent.g : 0.0);
Double h = h(from, to);
p.g = g;
p.f = g + h;
return p.f;
}
/**
* Expand a path.
*
* @param path The path to expand.
*/
private void expand(Path path){
T p = path.getPoint();
Double min = mindists.get(path.getPoint());
/*
* If a better path passing for this point already exists then
* don't expand it.
*/
if(min == null || min.doubleValue() > path.f.doubleValue())
mindists.put(path.getPoint(), path.f);
else
return;
List<T> successors = generateSuccessors(p);
for(T t : successors){
Path newPath = new Path(path);
newPath.setPoint(t);
f(newPath, path.getPoint(), t);
paths.offer(newPath);
}
expandedCounter++;
}
/**
* Get the cost to reach the last node in the path.
*
* @return The cost for the found path.
*/
public Double getCost(){
return lastCost;
}
/**
* Find the shortest path to a goal starting from
* <code>start</code>.
*
* @param start The initial node.
* @return A list of nodes from the initial point to a goal,
* <code>null</code> if a path doesn't exist.
*/
public List<T> compute(T start){
try{
Path root = new Path();
root.setPoint(start);
/* Needed if the initial point has a cost. */
f(root, start, start);
expand(root);
for(;;){
Path p = paths.poll();
if(p == null){
lastCost = Double.MAX_VALUE;
return null;
}
T last = p.getPoint();
lastCost = p.g;
if(isGoal(last)){
LinkedList<T> retPath = new LinkedList<T>();
for(Path i = p; i != null; i = i.parent){
retPath.addFirst(i.getPoint());
}
return retPath;
}
expand(p);
}
}
catch(Exception e){
e.printStackTrace();
}
return null;
}
}