-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathAStar.py
450 lines (418 loc) · 23 KB
/
AStar.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
import tkinter as tk
import numpy as np
import math
import tkinter.messagebox
import sys
# 初始化全部节点
AllNode = {}
for i in range(0, 30):
for j in range(0, 20):
AllNode[(i, j)] = [0, 0, 0, 0, 0,
0] # F,G,H,is_obstacle,parentX,parentY
# 障碍物坐标数组
Obstacle_node_list = []
# 起点坐标
Start_node = (0, 0)
# 终点坐标
End_node = (0, 0)
# 绘制界面
window = tk.Tk()
window.title('A_Star')
window.geometry('1400x1080')
canvas = tk.Canvas(window, bg='white', width=1200, height=1080)
canvas.pack(side='left')
for i in range(0, 30):
for j in range(0, 20):
canvas.create_rectangle(i * 40, j * 40, i * 40 + 40, j * 40 + 40)
# 获取起始点坐标
startflag = 0
def get_start_coordinate(event):
global startflag
global Start_node
if startflag == 0:
x = math.floor(event.x / 40)
y = math.floor(event.y / 40)
Start_node = (x, y)
# print('起始点坐标',Start_node)
canvas.create_rectangle(x * 40,
y * 40,
x * 40 + 40,
y * 40 + 40,
fill='lightgreen')
startflag = 1
# 获取障碍物坐标
def get_obstacle_coordinate(event):
global Obstacle_node_list
x = math.floor(event.x / 40)
y = math.floor(event.y / 40)
Obstacle_node_list.append((x, y))
# print(math.floor(event.x/40),math.floor(event.y/40))
canvas.create_rectangle(x * 40,
y * 40,
x * 40 + 40,
y * 40 + 40,
fill='grey')
# 获取终点坐标
endflag = 0
def get_end_coordinate(event):
global endflag
global End_node
if endflag == 0:
x = math.floor(event.x / 40)
y = math.floor(event.y / 40)
End_node = (x, y)
# print('终止点坐标',End_node)
canvas.create_rectangle(x * 40,
y * 40,
x * 40 + 40,
y * 40 + 40,
fill='red')
endflag = 1
v = tk.IntVar()
v.set(None)
options = [('设置起始点', 0), ('设置障碍物', 1), ('设置终止点', 2)]
def settings():
v.get() == 0
if (v.get() == 0):
canvas.bind('<Button-1>', get_start_coordinate)
if (v.get() == 1):
canvas.bind('<Button-1>', get_obstacle_coordinate)
if (v.get() == 2):
canvas.bind('<Button-1>', get_end_coordinate)
tk.Label(window, text='A星算法', font=('Times', 15)).place(x=1205, y=10)
for opt, num in options:
tk.Radiobutton(window, text=opt, value=num, command=settings,
variable=v).place(x=1255, y=50 + 40 * num)
class A_star:
def __init__(self, AllNode, Obstacle_node_list, Start_node, End_node):
self.openlist_dict = {} # open表
self.closelist_dict = {} # close表
self.AllNode_dict = AllNode
self.Obstacle_node_list = Obstacle_node_list # 障碍物节点
self.Start_node_tuple = Start_node
self.End_node_tuple = End_node
for x, y in self.Obstacle_node_list:
self.AllNode_dict[(x, y)][3] = 1
# 计算F、G、H
def calculate_F_G_H(self, x, y):
parent_x = self.AllNode_dict[(x, y)][4]
parent_y = self.AllNode_dict[(x, y)][5]
parent_G = self.AllNode_dict[(parent_x, parent_y)][1]
if x == parent_x or y == parent_y:
self.AllNode_dict[(x, y)][1] = parent_G + 10
if abs(x - parent_x) == 1 and abs(y - parent_y) == 1:
self.AllNode_dict[(x, y)][1] = parent_G + 14
self.AllNode_dict[(x, y)][2] = (abs(x - self.End_node_tuple[0]) +
abs(y - self.End_node_tuple[1])) * 10
self.AllNode_dict[(x, y)][0] = self.AllNode_dict[
(x, y)][1] + self.AllNode_dict[(x, y)][2]
# 对相邻的方格计算G值
def calculate_G(self, current_x, current_y, checking_x, checking_y):
if (abs(current_x - checking_x) + abs(current_y - checking_y)) == 2:
return 14
else:
return 10
# 找open表中F值最小的节点
def find_min_F_openlist(self):
Sort_F = []
for key in self.openlist_dict:
Sort_F.append((key, self.openlist_dict[key][0]))
Sort_F = sorted(Sort_F, key=lambda x: x[1])
(x, y) = Sort_F[0][0]
return (x, y)
# 将节点放入open表中
def put_into_openlist(self, node_tuple):
# try:
if node_tuple[0] < 0 or node_tuple[0] > 29 or node_tuple[1] < 0 or node_tuple[1] > 19:
return 0
else:
self.openlist_dict[node_tuple] = self.AllNode_dict[node_tuple]
x = node_tuple[0]
y = node_tuple[1]
canvas.create_rectangle(x * 40,
y * 40,
x * 40 + 40,
y * 40 + 40,
outline="#00FFFF")
# except:
# tkinter.messagebox.showinfo(title="提示", message="无法从起始点到达终点")
# sys.exit()
# 将节点放入close表中
def put_into_closelist(self, node_tuple):
self.closelist_dict[node_tuple] = self.AllNode_dict[node_tuple]
x = node_tuple[0]
y = node_tuple[1]
canvas.create_rectangle(x * 40,
y * 40,
x * 40 + 40,
y * 40 + 40,
outline='brown')
# 将节点从open表中取出
def take_out_of_openlist(self, node_tuple):
self.openlist_dict.pop(node_tuple)
# 检查相邻区域的节点
def checking_adjacent_area(self, node_tuple):
x = node_tuple[0]
y = node_tuple[1]
adjacent_list = [(x + 1, y), (x + 1, y - 1), (x, y - 1),
(x - 1, y - 1), (x - 1, y), (x - 1, y + 1),
(x, y + 1), (x + 1, y + 1)]
if (x + 1, y) in self.Obstacle_node_list:
adjacent_list.remove((x + 1, y - 1))
adjacent_list.remove((x + 1, y + 1))
if (x, y + 1) in self.Obstacle_node_list:
if (x + 1, y + 1) in adjacent_list:
adjacent_list.remove((x + 1, y + 1))
if (x, y - 1) in self.Obstacle_node_list:
if (x + 1, y - 1) in adjacent_list:
adjacent_list.remove((x + 1, y - 1))
for node in adjacent_list:
if -1 < node[0] < 30 and -1 < node[1] < 20:
if (node not in self.Obstacle_node_list) and (
node not in self.closelist_dict):
if node not in self.openlist_dict:
self.put_into_openlist(node)
self.AllNode_dict[node][4] = x
self.AllNode_dict[node][5] = y
self.calculate_F_G_H(node[0], node[1])
if not node == self.Start_node_tuple:
canvas.create_oval(node[0] * 40 + 17.5,
node[1] * 40 + 17.5,
node[0] * 40 + 22.5,
node[1] * 40 + 22.5)
# 分8中情况画箭头
# 右
if node[0] == self.AllNode_dict[node][4] - 1 and node[
1] == self.AllNode_dict[node][5]:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 30,
node[1] * 40 + 20,
tag=str(node[0]) + '__' +
str(node[1]))
# 右上
if node[0] == self.AllNode_dict[node][4] - 1 and node[
1] == self.AllNode_dict[node][5] + 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 30,
node[1] * 40 + 10,
tag=str(node[0]) + '__' +
str(node[1]))
# 上
if node[0] == self.AllNode_dict[node][4] and node[
1] == self.AllNode_dict[node][5] + 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 20,
node[1] * 40 + 10,
tag=str(node[0]) + '__' +
str(node[1]))
# 左上
if node[0] == self.AllNode_dict[node][4] + 1 and node[
1] == self.AllNode_dict[node][5] + 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 10,
node[1] * 40 + 10,
tag=str(node[0]) + '__' +
str(node[1]))
# 左
if node[0] == self.AllNode_dict[node][4] + 1 and node[
1] == self.AllNode_dict[node][5]:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 10,
node[1] * 40 + 20,
tag=str(node[0]) + '__' +
str(node[1]))
# 左下
if node[0] == self.AllNode_dict[node][4] + 1 and node[
1] == self.AllNode_dict[node][5] - 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 10,
node[1] * 40 + 30,
tag=str(node[0]) + '__' +
str(node[1]))
# 下
if node[0] == self.AllNode_dict[node][4] and node[
1] == self.AllNode_dict[node][5] - 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 20,
node[1] * 40 + 30,
tag=str(node[0]) + '__' +
str(node[1]))
# 右下
if node[0] == self.AllNode_dict[node][4] - 1 and node[
1] == self.AllNode_dict[node][5] - 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 30,
node[1] * 40 + 30,
tag=str(node[0]) + '__' +
str(node[1]))
if not node == self.End_node_tuple:
canvas.create_text(node[0] * 40 + 8,
node[1] * 40 + 8,
text=self.AllNode_dict[node][0],
font=('Times', 8),
tag=str(node[0]) + '_' +
str(node[1]))
canvas.create_text(node[0] * 40 + 8,
node[1] * 40 + 32,
text=self.AllNode_dict[node][1],
font=('Times', 8),
tag=str(node[0]) + '_' +
str(node[1]))
canvas.create_text(node[0] * 40 + 32,
node[1] * 40 + 32,
text=self.AllNode_dict[node][2],
font=('Times', 8),
tag=str(node[0]) + '_' +
str(node[1]))
else:
if (self.AllNode_dict[node_tuple][1] +
self.calculate_G(x, y, node[0], node[1])
) < self.AllNode_dict[node][1]:
self.AllNode_dict[node][4] = x
self.AllNode_dict[node][5] = y
self.calculate_F_G_H(node[0], node[1])
if not node == self.Start_node_tuple:
canvas.delete(
str(node[0]) + '__' + str(node[1]))
if node[0] == self.AllNode_dict[node][
4] - 1 and node[1] == self.AllNode_dict[
node][5]:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 30,
node[1] * 40 + 20,
tag=str(node[0]) + '__' +
str(node[1]))
if node[0] == self.AllNode_dict[node][
4] - 1 and node[
1] == self.AllNode_dict[node][5] + 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 30,
node[1] * 40 + 10,
tag=str(node[0]) + '__' +
str(node[1]))
if node[0] == self.AllNode_dict[node][4] and node[
1] == self.AllNode_dict[node][5] + 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 20,
node[1] * 40 + 10,
tag=str(node[0]) + '__' +
str(node[1]))
if node[0] == self.AllNode_dict[node][
4] + 1 and node[
1] == self.AllNode_dict[node][5] + 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 10,
node[1] * 40 + 10,
tag=str(node[0]) + '__' +
str(node[1]))
if node[0] == self.AllNode_dict[node][
4] + 1 and node[1] == self.AllNode_dict[
node][5]:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 10,
node[1] * 40 + 20,
tag=str(node[0]) + '__' +
str(node[1]))
if node[0] == self.AllNode_dict[node][
4] + 1 and node[
1] == self.AllNode_dict[node][5] - 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 10,
node[1] * 40 + 30,
tag=str(node[0]) + '__' +
str(node[1]))
if node[0] == self.AllNode_dict[node][4] and node[
1] == self.AllNode_dict[node][5] - 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 20,
node[1] * 40 + 30,
tag=str(node[0]) + '__' +
str(node[1]))
if node[0] == self.AllNode_dict[node][
4] - 1 and node[
1] == self.AllNode_dict[node][5] - 1:
canvas.create_line(node[0] * 40 + 20,
node[1] * 40 + 20,
node[0] * 40 + 30,
node[1] * 40 + 30,
tag=str(node[0]) + '__' +
str(node[1]))
if not node == self.End_node_tuple:
canvas.delete(
str(node[0]) + '_' + str(node[1]))
canvas.create_text(node[0] * 40 + 8,
node[1] * 40 + 8,
text=self.AllNode_dict[node][0],
font=('Times', 8),
tag=str(node[0]) + '_' +
str(node[1]))
canvas.create_text(node[0] * 40 + 8,
node[1] * 40 + 32,
text=self.AllNode_dict[node][1],
font=('Times', 8),
tag=str(node[0]) + '_' +
str(node[1]))
canvas.create_text(node[0] * 40 + 32,
node[1] * 40 + 32,
text=self.AllNode_dict[node][2],
font=('Times', 8),
tag=str(node[0]) + '_' +
str(node[1]))
# 绘制最终路径
def paint_path(self):
path_node = (self.AllNode_dict[self.End_node_tuple][4],
self.AllNode_dict[self.End_node_tuple][5])
while not path_node == self.Start_node_tuple:
x = path_node[0]
y = path_node[1]
canvas.create_oval(x * 40 + 15,
y * 40 + 15,
x * 40 + 25,
y * 40 + 25,
fill='red')
path_node = (self.AllNode_dict[path_node][4],
self.AllNode_dict[path_node][5])
# A_Star核心代码
def search(self):
self.put_into_openlist(self.Start_node_tuple)#将初始节点放入open表中
end_node_flag = 1
#一直循环直至结束
while end_node_flag:
current_node = self.find_min_F_openlist()#将open表中F值最小的节点作为当前节点
if -1 < current_node[0] < 30 and -1 < current_node[1] < 20:
self.take_out_of_openlist(current_node)#将当前节点从open表中取出
self.put_into_closelist(current_node)#将当前节点放入close表中
self.checking_adjacent_area(current_node)#检查周围相邻节点看是否更优
#终点出现在open list中，搜索结束，找到路径
if self.End_node_tuple in self.openlist_dict:
self.paint_path()
tkinter.messagebox.showinfo(title="提示", message="找到路径!")
end_node_flag = 0
#open list为空，搜索结束，无路径
if not self.openlist_dict:
tkinter.messagebox.showinfo(title="提示", message="没有路径!")
end_node_flag = 0
def start():
astar = A_star(AllNode, Obstacle_node_list, Start_node, End_node)
astar.search()
tk.Button(window, text='Run', command=start,
width=10, height=1).place(x=1260, y=170)
tk.Label(window, text='姓名：杨帆').place(x=1260, y=300)
tk.Label(window, text='学号：1711503').place(x=1260, y=330)
tk.Label(window, text='专业：智能科学与技术').place(x=1260, y=360)
window.mainloop()