A* search algorithm: Difference between revisions
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Revision as of 14:25, 16 November 2017
The A* search algorithm is an extension of Dijkstra's algorithm for route finding that uses heuristics to quickly find an approximate solution.
- Task
Consider the problem of finding a route across the diagonal of a chess board-like 8x8 grid. The rows are numbered from 0 to 7. The columns are also numbered 0 to 7. The start position is (0, 0) and the end position is (7, 7). Movement is allow by one square in any direction including diagonals, similar to a king in chess. The standard movement cost is 1. To make things slightly harder, there is a barrier that occupy certain positions of the grid. Moving into any of the barrier positions has a cost of 100.
The barrier occupies the positions (2,4), (2,5), (2,6), (3,6), (4,6), (5,6), (5,5), (5,4), (5,3), (5,2), (4,2) and (3,2).
A route with the lowest cost should be found using the A* search algorithm (there are multiple optimal solutions with the same total cost).
Print the optimal route in text format, as well as the total cost of the route.
Optionally, draw the optimal route and the barrier positions.
Note: using a heuristic score of zero is equivalent to Dijkstra's algorithm and that's kind of cheating/not really A*!
- See also
- Wikipedia webpage: A* search algorithm.
- Related tasks
- Knight's tour
- N-queens problem
- Solve a Hidato puzzle
- Solve a Holy Knight's tour
- Solve a Hopido puzzle
- Solve a Numbrix puzzle
- Solve the no connection puzzle
C
<lang c>
- include <stdlib.h>
- include <stdio.h>
- include <string.h>
- include <float.h>
/* and not not_eq */
- include <iso646.h>
/* add -lm to command line to compile with this header */
- include <math.h>
- define map_size_rows 10
- define map_size_cols 10
char map[map_size_rows][map_size_cols] = {
{1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
{1, 0, 0, 0, 0, 0, 0, 0, 0, 1},
{1, 0, 0, 0, 0, 0, 0, 0, 0, 1},
{1, 0, 0, 0, 0, 1, 1, 1, 0, 1},
{1, 0, 0, 1, 0, 0, 0, 1, 0, 1},
{1, 0, 0, 1, 0, 0, 0, 1, 0, 1},
{1, 0, 0, 1, 1, 1, 1, 1, 0, 1},
{1, 0, 0, 0, 0, 0, 0, 0, 0, 1},
{1, 0, 0, 0, 0, 0, 0, 0, 0, 1},
{1, 1, 1, 1, 1, 1, 1, 1, 1, 1}
};
/* description of graph node */ struct stop {
double col, row; /* array of indexes of routes from this stop to neighbours in array of all routes */ int * n; int n_len; double f, g, h; int from;
};
int ind[map_size_rows][map_size_cols] = {
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1}
};
/* description of route between two nodes */ struct route {
/* route has only one direction! */ int x; /* index of stop in array of all stops of src of this route */ int y; /* intex of stop in array of all stops od dst of this route */ double d;
};
int main() {
int i, j, k, l, b, found; int p_len = 0; int * path = NULL; int c_len = 0; int * closed = NULL; int o_len = 1; int * open = (int*)calloc(o_len, sizeof(int)); double min, tempg; int s; int e; int current; int s_len = 0; struct stop * stops = NULL; int r_len = 0; struct route * routes = NULL;
for (i = 1; i < map_size_rows - 1; i++) {
for (j = 1; j < map_size_cols - 1; j++) {
if (!map[i][j]) {
++s_len;
stops = (struct stop *)realloc(stops, s_len * sizeof(struct stop));
int t = s_len - 1;
stops[t].col = j;
stops[t].row = i;
stops[t].from = -1;
stops[t].g = DBL_MAX;
stops[t].n_len = 0;
stops[t].n = NULL;
ind[i][j] = t;
}
}
}
/* index of start stop */ s = 0; /* index of finish stop */ e = s_len - 1;
for (i = 0; i < s_len; i++) {
stops[i].h = sqrt(pow(stops[e].row - stops[i].row, 2) + pow(stops[e].col - stops[i].col, 2));
}
for (i = 1; i < map_size_rows - 1; i++) {
for (j = 1; j < map_size_cols - 1; j++) {
if (ind[i][j] >= 0) {
for (k = i - 1; k <= i + 1; k++) {
for (l = j - 1; l <= j + 1; l++) {
if ((k == i) and (l == j)) {
continue;
}
if (ind[k][l] >= 0) {
++r_len;
routes = (struct route *)realloc(routes, r_len * sizeof(struct route));
int t = r_len - 1;
routes[t].x = ind[i][j];
routes[t].y = ind[k][l];
routes[t].d = sqrt(pow(stops[routes[t].y].row - stops[routes[t].x].row, 2) + pow(stops[routes[t].y].col - stops[routes[t].x].col, 2));
++stops[routes[t].x].n_len;
stops[routes[t].x].n = (int*)realloc(stops[routes[t].x].n, stops[routes[t].x].n_len * sizeof(int));
stops[routes[t].x].n[stops[routes[t].x].n_len - 1] = t;
}
}
}
}
}
}
open[0] = s; stops[s].g = 0; stops[s].f = stops[s].g + stops[s].h; found = 0;
while (o_len and not found) {
min = DBL_MAX;
for (i = 0; i < o_len; i++) {
if (stops[open[i]].f < min) {
current = open[i];
min = stops[open[i]].f;
}
}
if (current == e) {
found = 1;
++p_len;
path = (int*)realloc(path, p_len * sizeof(int));
path[p_len - 1] = current;
while (stops[current].from >= 0) {
current = stops[current].from;
++p_len;
path = (int*)realloc(path, p_len * sizeof(int));
path[p_len - 1] = current;
}
}
for (i = 0; i < o_len; i++) {
if (open[i] == current) {
if (i not_eq (o_len - 1)) {
for (j = i; j < (o_len - 1); j++) {
open[j] = open[j + 1];
}
}
--o_len;
open = (int*)realloc(open, o_len * sizeof(int));
break;
}
}
++c_len;
closed = (int*)realloc(closed, c_len * sizeof(int));
closed[c_len - 1] = current;
for (i = 0; i < stops[current].n_len; i++) {
b = 0;
for (j = 0; j < c_len; j++) {
if (routes[stops[current].n[i]].y == closed[j]) {
b = 1;
}
}
if (b) {
continue;
}
tempg = stops[current].g + routes[stops[current].n[i]].d;
b = 1;
if (o_len > 0) {
for (j = 0; j < o_len; j++) {
if (routes[stops[current].n[i]].y == open[j]) {
b = 0;
}
}
}
if (b or (tempg < stops[routes[stops[current].n[i]].y].g)) {
stops[routes[stops[current].n[i]].y].from = current;
stops[routes[stops[current].n[i]].y].g = tempg;
stops[routes[stops[current].n[i]].y].f = stops[routes[stops[current].n[i]].y].g + stops[routes[stops[current].n[i]].y].h;
if (b) {
++o_len;
open = (int*)realloc(open, o_len * sizeof(int));
open[o_len - 1] = routes[stops[current].n[i]].y;
}
}
}
}
for (i = 0; i < map_size_rows; i++) {
for (j = 0; j < map_size_cols; j++) {
if (map[i][j]) {
putchar(0xdb);
} else {
b = 0;
for (k = 0; k < p_len; k++) {
if (ind[i][j] == path[k]) {
++b;
}
}
if (b) {
putchar('x');
} else {
putchar('.');
}
}
}
putchar('\n');
}
if (not found) {
puts("IMPOSSIBLE");
} else {
printf("path cost is %d:\n", p_len);
for (i = p_len - 1; i >= 0; i--) {
printf("(%1.0f, %1.0f)\n", stops[path[i]].col, stops[path[i]].row);
}
}
for (i = 0; i < s_len; ++i) {
free(stops[i].n);
}
free(stops);
free(routes);
free(path);
free(open);
free(closed);
return 0;
} </lang>
- Output:
▒▒▒▒▒▒▒▒▒▒ ▒x.......▒ ▒.x......▒ ▒.x..▒▒▒.▒ ▒.x▒...▒.▒ ▒.x▒...▒.▒ ▒.x▒▒▒▒▒.▒ ▒..xxxxx.▒ ▒.......x▒ ▒▒▒▒▒▒▒▒▒▒ path cost is 12: (1, 1) (2, 2) (2, 3) (2, 4) (2, 5) (2, 6) (3, 7) (4, 7) (5, 7) (6, 7) (7, 7) (8, 8)
C++
<lang cpp>
- include <list>
- include <algorithm>
- include <iostream>
class point { public:
point( int a = 0, int b = 0 ) { x = a; y = b; }
bool operator ==( const point& o ) { return o.x == x && o.y == y; }
point operator +( const point& o ) { return point( o.x + x, o.y + y ); }
int x, y;
};
class map { public:
map() {
char t[8][8] = {
{0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 1, 1, 1, 0}, {0, 0, 1, 0, 0, 0, 1, 0},
{0, 0, 1, 0, 0, 0, 1, 0}, {0, 0, 1, 1, 1, 1, 1, 0},
{0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0}
};
w = h = 8;
for( int r = 0; r < h; r++ )
for( int s = 0; s < w; s++ )
m[s][r] = t[r][s];
}
int operator() ( int x, int y ) { return m[x][y]; }
char m[8][8];
int w, h;
};
class node { public:
bool operator == (const node& o ) { return pos == o.pos; }
bool operator == (const point& o ) { return pos == o; }
bool operator < (const node& o ) { return dist + cost < o.dist + o.cost; }
point pos, parent;
int dist, cost;
};
class aStar { public:
aStar() {
neighbours[0] = point( -1, -1 ); neighbours[1] = point( 1, -1 );
neighbours[2] = point( -1, 1 ); neighbours[3] = point( 1, 1 );
neighbours[4] = point( 0, -1 ); neighbours[5] = point( -1, 0 );
neighbours[6] = point( 0, 1 ); neighbours[7] = point( 1, 0 );
}
int calcDist( point& p ){
// need a better heuristic
int x = end.x - p.x, y = end.y - p.y;
return( x * x + y * y );
}
bool isValid( point& p ) {
return ( p.x >-1 && p.y > -1 && p.x < m.w && p.y < m.h );
}
bool existPoint( point& p, int cost ) {
std::list<node>::iterator i;
i = std::find( closed.begin(), closed.end(), p );
if( i != closed.end() ) {
if( ( *i ).cost + ( *i ).dist < cost ) return true;
else { closed.erase( i ); return false; }
}
i = std::find( open.begin(), open.end(), p );
if( i != open.end() ) {
if( ( *i ).cost + ( *i ).dist < cost ) return true;
else { open.erase( i ); return false; }
}
return false;
}
bool fillOpen( node& n ) {
int stepCost, nc, dist;
point neighbour;
for( int x = 0; x < 8; x++ ) {
// one can make diagonals have different cost
stepCost = x < 4 ? 1 : 1;
neighbour = n.pos + neighbours[x];
if( neighbour == end ) return true;
if( isValid( neighbour ) && m( neighbour.x, neighbour.y ) != 1 ) {
nc = stepCost + n.cost;
dist = calcDist( neighbour );
if( !existPoint( neighbour, nc + dist ) ) {
node m;
m.cost = nc; m.dist = dist;
m.pos = neighbour;
m.parent = n.pos;
open.push_back( m );
}
}
}
return false;
}
bool search( point& s, point& e, map& mp ) {
node n; end = e; start = s; m = mp;
n.cost = 0; n.pos = s; n.parent = 0; n.dist = calcDist( s );
open.push_back( n );
while( !open.empty() ) {
//open.sort();
node n = open.front();
open.pop_front();
closed.push_back( n );
if( fillOpen( n ) ) return true;
}
return false;
}
int path( std::list<point>& path ) {
path.push_front( end );
int cost = 1 + closed.back().cost;
path.push_front( closed.back().pos );
point parent = closed.back().parent;
for( std::list<node>::reverse_iterator i = closed.rbegin(); i != closed.rend(); i++ ) {
if( ( *i ).pos == parent && !( ( *i ).pos == start ) ) {
path.push_front( ( *i ).pos );
parent = ( *i ).parent;
}
}
path.push_front( start );
return cost;
}
map m; point end, start;
point neighbours[8];
std::list<node> open;
std::list<node> closed;
};
int main( int argc, char* argv[] ) {
map m;
point s, e( 7, 7 );
aStar as;
if( as.search( s, e, m ) ) {
std::list<point> path;
int c = as.path( path );
for( int y = -1; y < 9; y++ ) {
for( int x = -1; x < 9; x++ ) {
if( x < 0 || y < 0 || x > 7 || y > 7 || m( x, y ) == 1 )
std::cout << char(0xdb);
else {
if( std::find( path.begin(), path.end(), point( x, y ) )!= path.end() )
std::cout << "x";
else std::cout << ".";
}
}
std::cout << "\n";
}
std::cout << "\nPath cost " << c << ": ";
for( std::list<point>::iterator i = path.begin(); i != path.end(); i++ ) {
std::cout<< "(" << ( *i ).x << ", " << ( *i ).y << ") ";
}
}
std::cout << "\n\n";
return 0;
} </lang>
- Output:
██████████ █x.......█ █x.......█ █x...███.█ █x.█...█.█ █x.█...█.█ █.x█████.█ █..xxxx..█ █......xx█ ██████████ Path cost 11: (0, 0) (0, 1) (0, 2) (0, 3) (0, 4) (1, 5) (2, 6) (3, 6) (4, 6) (5, 6) (6, 7) (7, 7)
Go
<lang go>// Package astar implements the A* search algorithm with minimal constraints // on the graph representation. package astar
import "container/heap"
// Exported node type. type Node interface {
To() []Arc // return list of arcs from this node to another Heuristic(from Node) int // heuristic cost from another node to this one
}
// An Arc, actually a "half arc", leads to another node with integer cost. type Arc struct {
To Node Cost int
}
// rNode holds data for a "reached" node type rNode struct {
n Node from Node l int // route len g int // route cost f int // "g+h", route cost + heuristic estimate fx int // heap.Fix index
}
type openHeap []*rNode // priority queue
// Route computes a route from start to end nodes using the A* algorithm. // // The algorithm is general A*, where the heuristic is not required to be // monotonic. If a route exists, the function will find a route regardless // of the quality of the Heuristic. For an admissiable heuristic, the route // will be optimal. func Route(start, end Node) (route []Node, cost int) {
// start node initialized with heuristic
cr := &rNode{n: start, l: 1, f: end.Heuristic(start)}
// maintain a set of reached nodes. start is reached initially
r := map[Node]*rNode{start: cr}
// oh is a heap of nodes "open" for exploration. nodes go on the heap
// when they get an initial or new "g" route distance, and therefore a
// new "f" which serves as priority for exploration.
oh := openHeap{cr}
for len(oh) > 0 {
bestRoute := heap.Pop(&oh).(*rNode)
bestNode := bestRoute.n
if bestNode == end {
// done. prepare return values
cost = bestRoute.g
route = make([]Node, bestRoute.l)
for i := len(route) - 1; i >= 0; i-- {
route[i] = bestRoute.n
bestRoute = r[bestRoute.from]
}
return
}
l := bestRoute.l + 1
for _, to := range bestNode.To() {
// "g" route distance from start
g := bestRoute.g + to.Cost
if alt, ok := r[to.To]; !ok {
// alt being reached for the first time
alt = &rNode{n: to.To, from: bestNode, l: l,
g: g, f: g + end.Heuristic(to.To)}
r[to.To] = alt
heap.Push(&oh, alt)
} else {
if g >= alt.g {
continue // candidate route no better than existing route
}
// it's a better route
// update data and make sure it's on the heap
alt.from = bestNode
alt.l = l
alt.g = g
alt.f = end.Heuristic(alt.n)
if alt.fx < 0 {
heap.Push(&oh, alt)
} else {
heap.Fix(&oh, alt.fx)
}
}
}
}
return nil, 0
}
// implement container/heap func (h openHeap) Len() int { return len(h) } func (h openHeap) Less(i, j int) bool { return h[i].f < h[j].f } func (h openHeap) Swap(i, j int) {
h[i], h[j] = h[j], h[i] h[i].fx = i h[j].fx = j
}
func (p *openHeap) Push(x interface{}) {
h := *p fx := len(h) h = append(h, x.(*rNode)) h[fx].fx = fx *p = h
}
func (p *openHeap) Pop() interface{} {
h := *p last := len(h) - 1 *p = h[:last] h[last].fx = -1 return h[last]
}</lang> <lang go>package main
import (
"fmt"
"astar"
)
// rcNode implements the astar.Node interface type rcNode struct{ r, c int }
var barrier = map[rcNode]bool{{2, 4}: true, {2, 5}: true,
{2, 6}: true, {3, 6}: true, {4, 6}: true, {5, 6}: true, {5, 5}: true,
{5, 4}: true, {5, 3}: true, {5, 2}: true, {4, 2}: true, {3, 2}: true}
// graph representation is virtual. Arcs from a node are generated when // requested, but there is no static graph representation. func (fr rcNode) To() (a []astar.Arc) {
for r := fr.r - 1; r <= fr.r+1; r++ {
for c := fr.c - 1; c <= fr.c+1; c++ {
if (r == fr.r && c == fr.c) || r < 0 || r > 7 || c < 0 || c > 7 {
continue
}
n := rcNode{r, c}
cost := 1
if barrier[n] {
cost = 100
}
a = append(a, astar.Arc{n, cost})
}
}
return a
}
// The heuristic computed is max of row distance and column distance. // This is effectively the cost if there were no barriers. func (n rcNode) Heuristic(fr astar.Node) int {
dr := n.r - fr.(rcNode).r
if dr < 0 {
dr = -dr
}
dc := n.c - fr.(rcNode).c
if dc < 0 {
dc = -dc
}
if dr > dc {
return dr
}
return dc
}
func main() {
route, cost := astar.Route(rcNode{0, 0}, rcNode{7, 7})
fmt.Println("Route:", route)
fmt.Println("Cost:", cost)
}</lang>
- Output:
Route: [{0 0} {1 1} {2 2} {3 1} {4 1} {5 1} {6 2} {6 3} {6 4} {6 5} {6 6} {7 7}]
Cost: 11
JavaScript
Animated.
To see how it works on a random map go here
<lang javascript>
var ctx, map, opn = [], clsd = [], start = {x:1, y:1, f:0, g:0},
goal = {x:8, y:8, f:0, g:0}, mw = 10, mh = 10, neighbours, path;
function findNeighbour( arr, n ) {
var a;
for( var i = 0; i < arr.length; i++ ) {
a = arr[i];
if( n.x === a.x && n.y === a.y ) return i;
}
return -1;
} function addNeighbours( cur ) {
var p;
for( var i = 0; i < neighbours.length; i++ ) {
var n = {x: cur.x + neighbours[i].x, y: cur.y + neighbours[i].y, g: 0, h: 0, prt: {x:cur.x, y:cur.y}};
if( map[n.x][n.y] == 1 || findNeighbour( clsd, n ) > -1 ) continue;
n.g = cur.g + neighbours[i].c; n.h = Math.abs( goal.x - n.x ) + Math.abs( goal.y - n.y );
p = findNeighbour( opn, n );
if( p > -1 && opn[p].g + opn[p].h <= n.g + n.h ) continue;
opn.push( n );
}
opn.sort( function( a, b ) {
return ( a.g + a.h ) - ( b.g + b.h ); } );
} function createPath() {
path = [];
var a, b;
a = clsd.pop();
path.push( a );
while( clsd.length ) {
b = clsd.pop();
if( b.x != a.prt.x || b.y != a.prt.y ) continue;
a = b; path.push( a );
}
}
function solveMap() {
drawMap();
if( opn.length < 1 ) {
document.body.appendChild( document.createElement( "p" ) ).innerHTML = "Impossible!";
return;
}
var cur = opn.splice( 0, 1 )[0];
clsd.push( cur );
if( cur.x == goal.x && cur.y == goal.y ) {
createPath(); drawMap();
return;
}
addNeighbours( cur );
requestAnimationFrame( solveMap );
} function drawMap() {
ctx.fillStyle = "#ee6"; ctx.fillRect( 0, 0, 200, 200 );
for( var j = 0; j < mh; j++ ) {
for( var i = 0; i < mw; i++ ) {
switch( map[i][j] ) {
case 0: continue;
case 1: ctx.fillStyle = "#990"; break;
case 2: ctx.fillStyle = "#090"; break;
case 3: ctx.fillStyle = "#900"; break;
}
ctx.fillRect( i, j, 1, 1 );
}
}
var a;
if( path.length ) {
var txt = "Path: " + ( path.length - 1 ) + "
[";
for( var i = path.length - 1; i > -1; i-- ) {
a = path[i];
ctx.fillStyle = "#999";
ctx.fillRect( a.x, a.y, 1, 1 );
txt += "(" + a.x + ", " + a.y + ") ";
}
document.body.appendChild( document.createElement( "p" ) ).innerHTML = txt + "]";
return;
}
for( var i = 0; i < opn.length; i++ ) {
a = opn[i];
ctx.fillStyle = "#909";
ctx.fillRect( a.x, a.y, 1, 1 );
}
for( var i = 0; i < clsd.length; i++ ) {
a = clsd[i];
ctx.fillStyle = "#009";
ctx.fillRect( a.x, a.y, 1, 1 );
}
} function createMap() {
map = new Array( mw );
for( var i = 0; i < mw; i++ ) {
map[i] = new Array( mh );
for( var j = 0; j < mh; j++ ) {
if( !i || !j || i == mw - 1 || j == mh - 1 ) map[i][j] = 1;
else map[i][j] = 0;
}
}
map[5][3] = map[6][3] = map[7][3] = map[3][4] = map[7][4] = map[3][5] =
map[7][5] = map[3][6] = map[4][6] = map[5][6] = map[6][6] = map[7][6] = 1;
//map[start.x][start.y] = 2; map[goal.x][goal.y] = 3;
} function init() {
var canvas = document.createElement( "canvas" );
canvas.width = canvas.height = 200;
ctx = canvas.getContext( "2d" );
ctx.scale( 20, 20 );
document.body.appendChild( canvas );
neighbours = [
{x:1, y:0, c:1}, {x:-1, y:0, c:1}, {x:0, y:1, c:1}, {x:0, y:-1, c:1},
{x:1, y:1, c:1.4}, {x:1, y:-1, c:1.4}, {x:-1, y:1, c:1.4}, {x:-1, y:-1, c:1.4}
];
path = []; createMap(); opn.push( start ); solveMap();
} </lang>
- Output:
Path: 11 [(1, 1) (2, 2) (2, 3) (2, 4) (2, 5) (2, 6) (3, 7) (4, 8) (5, 8) (6, 8) (7, 8) (8, 8) ]
Lua
<lang lua> -- QUEUE ----------------------------------------------------------------------- Queue = {} function Queue:new()
local q = {}
self.__index = self
return setmetatable( q, self )
end function Queue:push( v )
table.insert( self, v )
end function Queue:pop()
return table.remove( self, 1 )
end function Queue:getSmallestF()
local s, i = nil, 2
while( self[i] ~= nil and self[1] ~= nil ) do
if self[i]:F() < self[1]:F() then
s = self[1]
self[1] = self[i]
self[i] = s
end
i = i + 1
end
return self:pop()
end
-- LIST ------------------------------------------------------------------------ List = {} function List:new()
local l = {}
self.__index = self
return setmetatable( l, self )
end function List:push( v )
table.insert( self, v )
end function List:pop()
return table.remove( self )
end
-- POINT ----------------------------------------------------------------------- Point = {} function Point:new()
local p = { y = 0, x = 0 }
self.__index = self
return setmetatable( p, self )
end function Point:set( x, y )
self.x, self.y = x, y
end function Point:equals( o )
return (o.x == self.x and o.y == self.y)
end function Point:print()
print( self.x, self.y )
end
-- NODE ------------------------------------------------------------------------ Node = {} function Node:new()
local n = { pos = Point:new(), parent = Point:new(), dist = 0, cost = 0 }
self.__index = self
return setmetatable( n, self )
end function Node:set( pt, parent, dist, cost )
self.pos = pt self.parent = parent self.dist = dist self.cost = cost
end function Node:F()
return ( self.dist + self.cost )
end
-- A-STAR ---------------------------------------------------------------------- local nbours = {
{ 1, 0, 1 }, { 0, 1, 1 }, { 1, 1, 1.4 }, { 1, -1, 1.4 },
{ -1, -1, 1.4 }, { -1, 1, 1.4 }, { 0, -1, 1 }, { -1, 0, 1 }
} local map = {
1,1,1,1,1,1,1,1,1,1,
1,0,0,0,0,0,0,0,0,1,
1,0,0,0,0,0,0,0,0,1,
1,0,0,0,0,1,1,1,0,1,
1,0,0,1,0,0,0,1,0,1,
1,0,0,1,0,0,0,1,0,1,
1,0,0,1,1,1,1,1,0,1,
1,0,0,0,0,0,0,0,0,1,
1,0,0,0,0,0,0,0,0,1,
1,1,1,1,1,1,1,1,1,1
} local open, closed, start, goal,
mapW, mapH = Queue:new(), List:new(), Point:new(), Point:new(), 10, 10
start:set( 2, 2 ); goal:set( 9, 9 )
function hasNode( arr, pos )
for nx, val in ipairs( arr ) do
if val.pos:equals( pos ) then
return nx
end
end
return -1
end function isValid( pos )
return pos.x > 0 and pos.x <= mapW
and pos.y > 0 and pos.y <= mapH
and map[pos.x + mapW * pos.y - mapW] == 0
end function calcDist( p1 )
local x, y = goal.x - p1.x, goal.y - p1.y return math.abs( x ) + math.abs( y )
end function addToOpen( node )
local nx
for n = 1, 8 do
nNode = Node:new()
nNode.parent:set( node.pos.x, node.pos.y )
nNode.pos:set( node.pos.x + nbours[n][1], node.pos.y + nbours[n][2] )
nNode.cost = node.cost + nbours[n][3]
nNode.dist = calcDist( nNode.pos )
if isValid( nNode.pos ) then
if nNode.pos:equals( goal ) then
closed:push( nNode )
return true
end
nx = hasNode( closed, nNode.pos )
if nx < 0 then
nx = hasNode( open, nNode.pos )
if( nx < 0 ) or ( nx > 0 and nNode:F() < open[nx]:F() ) then
if( nx > 0 ) then
table.remove( open, nx )
end
open:push( nNode )
else
nNode = nil
end
end
end
end
return false
end function makePath()
local i, l = #closed, List:new() local node, parent = closed[i], nil
l:push( node.pos )
parent = node.parent
while( i > 0 ) do
i = i - 1
node = closed[i]
if node ~= nil and node.pos:equals( parent ) then
l:push( node.pos )
parent = node.parent
end
end
print( string.format( "Cost: %d", #l - 1 ) )
io.write( "Path: " )
for i = #l, 1, -1 do
map[l[i].x + mapW * l[i].y - mapW] = 2
io.write( string.format( "(%d, %d) ", l[i].x, l[i].y ) )
end
print( "" )
end function aStar()
local n = Node:new()
n.dist = calcDist( start )
n.pos:set( start.x, start.y )
open:push( n )
while( true ) do
local node = open:getSmallestF()
if node == nil then break end
closed:push( node )
if addToOpen( node ) == true then
makePath()
return true
end
end
return false
end -- ENTRY POINT ----------------------------------------------------------------- if true == aStar() then
local m
for j = 1, mapH do
for i = 1, mapW do
m = map[i + mapW * j - mapW]
if m == 0 then
io.write( "." )
elseif m == 1 then
io.write( string.char(0xdb) )
else
io.write( "x" )
end
end
io.write( "\n" )
end
else
print( "can not find a path!" )
end </lang>
- Output:
Cost: 11 Path: (2, 2) (3, 3) (3, 4) (3, 5) (3, 6) (3, 7) (4, 8) (5, 9) (6, 9) (7, 9) (8, 9) (9, 9) ██████████ █x.......█ █.x......█ █.x..███.█ █.x█...█.█ █.x█...█.█ █.x█████.█ █..x.....█ █...xxxxx█ ██████████
Phix
rows and columns are numbered 1 to 8. start position is {1,1} and end position is {8,8}. barriers are simply avoided, rather than costed at 100. rand() added for fun. <lang Phix>sequence grid = split(""" x:::::::
""",'\n')
constant permitted = {{-1,-1},{0,-1},{1,-1},
{-1, 0}, {1, 0},
{-1, 1},{0,+1},{1,+1}}
integer key = 0 sequence moves = Template:1,1,
data = {moves}
setd(key,data) bool found = false while not found do
if dict_size()=0 then ?"impossible" exit end if
key = getd_partial_key(0)
data = getd(key)
integer k = rand(length(data))
moves = data[k]
data[k..k] = {}
if data={} then
deld(key)
else
putd(key,data)
end if
key += 1
sequence prand = shuffle(tagset(8))
for i=1 to length(permitted) do
sequence newpos = sq_add(moves[$],permitted[prand[i]])
integer {nx,ny} = newpos
if nx>=1 and nx<=8
and ny>=1 and ny<=8
and grid[nx,ny] = ':' then -- (not visited)
grid[nx,ny] = '.'
sequence newmoves = append(moves,newpos)
if newpos = {8,8} then
moves = newmoves
found = true
exit
end if
k = getd_index(key)
if k=0 then
data = {newmoves}
else
data = append(getd_by_index(k),newmoves)
end if
putd(key,data)
end if
end for
end while if found then
printf(1,"%d moves:",length(moves))
?moves
for i=1 to length(moves) do
integer {x,y} = moves[i]
grid[x,y] = 'x'
end for
puts(1,join(grid,'\n'))
end if</lang>
- Output:
12 moves:{{1,1},{2,2},{3,3},{4,2},{5,1},{6,2},{7,3},{7,4},{8,5},{7,6},{7,7},{8,8}}
x.......
.x......
..x.###.
.x#...#.
x.#...#.
.x#####.
..x.x...
...x.xxx
With a simple manhattan distance heuristic, however, it becomes completely deterministic (hence/with rand removed): <lang Phix>sequence grid = split(""" x:::::::
""",'\n')
constant permitted = {{-1,-1},{0,-1},{1,-1},
{-1, 0}, {1, 0},
{-1, 1},{0,+1},{1,+1}}
sequence key = {0,14}, -- cost, manhattan
moves = Template:1,1, data = {moves}
setd(key,data) bool found = false while not found do
if dict_size()=0 then ?"impossible" exit end if
key = getd_partial_key(0)
data = getd(key)
moves = data[$]
if length(data)=1 then
deld(key)
else
data = data[1..$-1]
putd(key,data)
end if
for i=1 to length(permitted) do
sequence newpos = sq_add(moves[$],permitted[i])
integer {nx,ny} = newpos
if nx>=1 and nx<=8
and ny>=1 and ny<=8
and grid[nx,ny] = ':' then
grid[nx,ny] = '.'
sequence newkey = {key[1]+1,8-nx+8-ny},
newmoves = append(moves,{nx,ny})
if {nx,ny} = {8,8} then
moves = newmoves
found = true
exit
end if
integer k = getd_index(newkey)
if k=0 then
data = {newmoves}
else
data = append(getd_by_index(k),newmoves)
end if
putd(newkey,data)
end if
end for
end while if found then
printf(1,"%d moves:",length(moves))
?moves
for i=1 to length(moves) do
integer {x,y} = moves[i]
grid[x,y] = 'x'
end for
puts(1,join(grid,'\n'))
end if</lang>
- Output:
12 moves:{{1,1},{2,2},{3,3},{4,2},{5,2},{6,2},{7,3},{8,4},{8,5},{8,6},{8,7},{8,8}}
x.......
.x......
..x.###.
.x#...#.
.x#...#.
.x#####.
..x.....
...xxxxx
Python
<lang python>from __future__ import print_function import matplotlib.pyplot as plt
class AStarGraph(object): #Define a class board like grid with two barriers
def __init__(self): self.barriers = [] self.barriers.append([(2,4),(2,5),(2,6),(3,6),(4,6),(5,6),(5,5),(5,4),(5,3),(5,2),(4,2),(3,2)])
def heuristic(self, start, goal): #Use Chebyshev distance heuristic if we can move one square either #adjacent or diagonal D = 1 D2 = 1 dx = abs(start[0] - goal[0]) dy = abs(start[1] - goal[1]) return D * (dx + dy) + (D2 - 2 * D) * min(dx, dy)
def get_vertex_neighbours(self, pos): n = [] #Moves allow link a chess king for dx, dy in [(1,0),(-1,0),(0,1),(0,-1),(1,1),(-1,1),(1,-1),(-1,-1)]: x2 = pos[0] + dx y2 = pos[1] + dy if x2 < 0 or x2 > 7 or y2 < 0 or y2 > 7: continue n.append((x2, y2)) return n
def move_cost(self, a, b): for barrier in self.barriers: if b in barrier: return 100 #Extremely high cost to enter barrier squares return 1 #Normal movement cost
def AStarSearch(start, end, graph):
G = {} #Actual movement cost to each position from the start position F = {} #Estimated movement cost of start to end going via this position
#Initialize starting values G[start] = 0 F[start] = graph.heuristic(start, end)
closedVertices = set() openVertices = set([start]) cameFrom = {}
while len(openVertices) > 0: #Get the vertex in the open list with the lowest F score current = None currentFscore = None for pos in openVertices: if current is None or F[pos] < currentFscore: currentFscore = F[pos] current = pos
#Check if we have reached the goal if current == end: #Retrace our route backward path = [current] while current in cameFrom: current = cameFrom[current] path.append(current) path.reverse() return path, F[end] #Done!
#Mark the current vertex as closed openVertices.remove(current) closedVertices.add(current)
#Update scores for vertices near the current position for neighbour in graph.get_vertex_neighbours(current): if neighbour in closedVertices: continue #We have already processed this node exhaustively candidateG = G[current] + graph.move_cost(current, neighbour)
if neighbour not in openVertices: openVertices.add(neighbour) #Discovered a new vertex elif candidateG >= G[neighbour]: continue #This G score is worse than previously found
#Adopt this G score cameFrom[neighbour] = current G[neighbour] = candidateG H = graph.heuristic(neighbour, end) F[neighbour] = G[neighbour] + H
raise RuntimeError("A* failed to find a solution")
if __name__=="__main__": graph = AStarGraph() result, cost = AStarSearch((0,0), (7,7), graph) print ("route", result) print ("cost", cost) plt.plot([v[0] for v in result], [v[1] for v in result]) for barrier in graph.barriers: plt.plot([v[0] for v in barrier], [v[1] for v in barrier]) plt.xlim(-1,8) plt.ylim(-1,8) plt.show()</lang>
- Output:
route [(0, 0), (1, 1), (2, 2), (3, 1), (4, 1), (5, 1), (6, 2), (7, 3), (6, 4), (7, 5), (6, 6), (7, 7)] cost 11
Racket
This code is lifted from: this blog post. Read it, it's very good.
<lang racket>#lang scribble/lp @(chunk
<graph-sig> (define-signature graph^ (node? edge? node-edges edge-src edge-cost edge-dest)))
@(chunk
<map-generation>
(define (make-map N)
;; Jay's random algorithm
;; (build-matrix N N (λ (x y) (random 3)))
;; RC version
(matrix [[0 0 0 0 0 0 0 0]
[0 0 0 0 0 0 0 0]
[0 0 0 0 1 1 1 0]
[0 0 1 0 0 0 1 0]
[0 0 1 0 0 0 1 0]
[0 0 1 1 1 1 1 0]
[0 0 0 0 0 0 0 0]
[0 0 0 0 0 0 0 0]])))
@(chunk
<map-graph-rep> (struct map-node (M x y) #:transparent) (struct map-edge (src dx dy dest)))
@(chunk
<map-graph-cost>
(define (edge-cost e)
(match-define (map-edge _ _ _ (map-node M x y)) e)
(match (matrix-ref M x y)
[0 1]
[1 100]
[2 1000])))
@(chunk
<map-graph-edges>
(define (node-edges n)
(match-define (map-node M x y) n)
(append*
(for*/list ([dx (in-list '(1 0 -1))]
[dy (in-list '(1 0 -1))]
#:when
(and (not (and (zero? dx) (zero? dy)))
;; RC -- allowed to move diagonally, so not this clause
;;(or (zero? dx) (zero? dy))
))
(cond
[(and (<= 0 (+ dx x) (sub1 (matrix-num-cols M)))
(<= 0 (+ dy y) (sub1 (matrix-num-rows M))))
(define dest (map-node M (+ dx x) (+ dy y)))
(list (map-edge n dx dy dest))]
[else
empty])))))
@(chunk
<a-star>
(define (A* graph@ initial node-cost)
(define-values/invoke-unit graph@ (import) (export graph^))
(define count 0)
<a-star-setup>
(begin0
(let/ec esc
<a-star-loop>
#f)
(printf "visited ~a nodes\n" count))))
@(chunk
<a-star-setup> <a-star-setup-closed> <a-star-setup-open>)
@(chunk
<a-star-setup-closed> (define node->best-path (make-hash)) (define node->best-path-cost (make-hash)) (hash-set! node->best-path initial empty) (hash-set! node->best-path-cost initial 0))
@(chunk
<a-star-setup-open>
(define (node-total-estimate-cost n)
(+ (node-cost n) (hash-ref node->best-path-cost n)))
(define (node-cmp x y)
(<= (node-total-estimate-cost x)
(node-total-estimate-cost y)))
(define open-set (make-heap node-cmp))
(heap-add! open-set initial))
@(chunk
<a-star-loop> (for ([x (in-heap/consume! open-set)]) (set! count (add1 count)) <a-star-loop-body>))
@(chunk
<a-star-loop-stop?>
(define h-x (node-cost x))
(define path-x (hash-ref node->best-path x))
(when (zero? h-x)
(esc (reverse path-x))))
@(chunk
<a-star-loop-body>
<a-star-loop-stop?>
(define g-x (hash-ref node->best-path-cost x))
(for ([x->y (in-list (node-edges x))])
(define y (edge-dest x->y))
<a-star-loop-per-neighbor>))
@(chunk
<a-star-loop-per-neighbor> (define new-g-y (+ g-x (edge-cost x->y))) (define old-g-y (hash-ref node->best-path-cost y +inf.0)) (when (< new-g-y old-g-y) (hash-set! node->best-path-cost y new-g-y) (hash-set! node->best-path y (cons x->y path-x)) (heap-add! open-set y)))
@(chunk
<map-display>
(define map-scale 15)
(define (type-color ty)
(match ty
[0 "yellow"]
[1 "green"]
[2 "red"]))
(define (cell-square ty)
(square map-scale "solid" (type-color ty)))
(define (row-image M row)
(apply beside
(for/list ([col (in-range (matrix-num-cols M))])
(cell-square (matrix-ref M row col)))))
(define (map-image M)
(apply above
(for/list ([row (in-range (matrix-num-rows M))])
(row-image M row)))))
@(chunk
<path-display-line>
(define (edge-image-on e i)
(match-define (map-edge (map-node _ sx sy) _ _ (map-node _ dx dy)) e)
(add-line i
(* (+ sy 0.5) map-scale) (* (+ sx 0.5) map-scale)
(* (+ dy 0.5) map-scale) (* (+ dx 0.5) map-scale)
"black")))
@(chunk
<path-display> (define (path-image M path) (foldr edge-image-on (map-image M) path)))
@(chunk
<map-graph>
(define-unit map@
(import) (export graph^)
(define node? map-node?)
(define edge? map-edge?)
(define edge-src map-edge-src)
(define edge-dest map-edge-dest)
<map-graph-cost>
<map-graph-edges>))
@(chunk
<map-node-cost>
(define ((make-node-cost GX GY) n)
(match-define (map-node M x y) n)
;; Jay's
#;(+ (abs (- x GX))
(abs (- y GY)))
;; RC -- diagonal movement
(max (abs (- x GX))
(abs (- y GY)))))
@(chunk
<map-example>
(define N 8)
(define random-M
(make-map N))
(define random-path
(time
(A* map@
(map-node random-M 0 0)
(make-node-cost (sub1 N) (sub1 N))))))
@(chunk
<*>
(require rackunit
math/matrix
racket/unit
racket/match
racket/list
data/heap
2htdp/image
racket/runtime-path)
<graph-sig>
<map-generation>
<map-graph-rep>
<map-graph>
<a-star>
<map-node-cost>
<map-example>
(printf "path is ~a long\n" (length random-path))
(printf "path is: ~a\n" (map (match-lambda
[(map-edge src dx dy dest)
(cons dx dy)])
random-path))
<map-display>
<path-display-line>
<path-display>
(path-image random-M random-path))</lang>
- Output:
visited 35 nodes cpu time: 94 real time: 97 gc time: 15 path is 11 long path is: ((1 . 1) (1 . 1) (1 . -1) (1 . 0) (1 . 0) (1 . 1) (1 . 1) (0 . 1) (-1 . 1) (1 . 1) (0 . 1)) .
A diagram is also output, but you'll need to run this in DrRacket to see it.
REXX
Since the REXX language doesn't employ shortcuts, the shorter function could be re-coded for greater speed: <lang rexx>shorter: if @1(nc-1, nr-1) then return 1
if @1(nc-1, nr ) then return 1
if @1(nc , nr-1) then return 1
if @1(nc+1, nr ) then return 1
if @1(nc+1, nr-1) then return 1
if @1(nc , nr+1) then return 1
if @1(nc-1, nr+1) then return 1
if @1(nc+1, nr+1) then return 1
return 0</lang>
However, this grid (with the current barriers) don't pose that much computation to solve.
A significant portion of the REXX code addresses the issue of presenting a decent grid representation. <lang rexx>/*REXX program solves the A* search problem for a (general) NxN grid. */ parse arg N sCol sRow . /*obtain optional arguments from the CL*/ if N== | N=="," then N=8 /*No grid size specified? Use default.*/ if sCol== | sCol=="," then sCol=1 /*No starting column given? " " */ if sRow== | sRow=="," then sRow=1 /* " " row " " " */ NN=N**2; NxN='a ' N"x"N ' grid' /* row [↓] [↓] c=column*/ @.=; do c=1 for N; do r=1 for N; @.c.r=.; end /*r*/; end /*c*/ !.=0; do i=0 for 10; !.i=1; end /*i*/ /*mark as numbers.*/
$= 2.4 2.5 2.6 3.6 4.6 5.6 5.5 5.4 5.3 5.2 4.2 3.2 /*locations of barriers on grid.*/
- =words($); do b=1 for #; p=word($,b); parse var p c '.' r; call @ c+1, r+1, "█"
end /*b*/
beg= '-0-' /*mark beginning of the journey (path).*/
Pc = ' 1 1 0 0 1 -1 -1 -1 ' /*the legal "column" moves for a path. */
Pr = ' 1 0 1 -1 -1 0 1 -1 ' /* " " "row" " " " " */
/* [↑] optimized for moving right&down*/
Pc.possMove=words(Pc) /*number of possible moves for a path. */ parse var Pc Pc.1 Pc.2 Pc.3 Pc.4 Pc.5 Pc.6 Pc.7 Pc.8 /*parse the legal moves by hand.*/ parse var Pr Pr.1 Pr.2 Pr.3 Pr.4 Pr.5 Pr.6 Pr.7 Pr.8 /* " " " " " " */ @.sCol.sRow= beg /*the path's starting position. */ @Aa= " A* search algorithm on" /*a handy-dandy literal for the SAYs. */ OK=move(1, sCol, sRow) if OK & @.N.N==. then say 'No' @Aa "solution for" NxN'.'
else say 'A solution for the' @Aa NxN 'with a score of ' @.N.N"."
ind=left(, 9 * (n<18) ); say /*the indentation of the displayed grid*/ _=substr( copies("┼───", N), 2); say ind translate('┌'_"┐", '┬', "┼") /*part of a grid*/
/* [↓] build a display for the grid. */
do c=1 for N by +1; if c\==1 then say ind '├'_"┤"; L=@.
do r=1 for N; ?=@.c.r; if c ==N & r==N & ?\==. then ?='end'; L=L"│"center(?, 3)
end /*r*/ /*done with rank of the grid. */
say ind translate(L'│', , .) /*display a " " " " */
end /*c*/ /*a 19x19 grid can be shown 80 columns.*/
say ind translate('└'_"┘", '┴', "┼") /*display the last part of the grid. */ exit /*stick a fork in it, we're all done. */ /*──────────────────────────────────────────────────────────────────────────────────────*/ @: parse arg x,y,aChar; if arg()==3 then @.x.y=aChar; return @.x.y @1: parse arg x,y; parse var @.x.y dig 2; if !.dig then return @.x.y<#-1; return 0 /*──────────────────────────────────────────────────────────────────────────────────────*/ move: procedure expose @. !. Pc. Pr. N NN; parse arg #,col,row /*obtain move,col,row.*/
do t=1 for Pc.possMove; nc=col + Pc.t; nr=row + Pr.t /*a new path position. */
if @.nc.nr==. then do; if shorter() then iterate /*Shorter path? Next. */
@.nc.nr=# /*Empty? A legal path.*/
if nc==N then if nr==N then return 1 /*last move? */
if move(#+1, nc, nr) then return 1 /* " " */
@.nc.nr=. /*undo the above move. */
end /*try different move. */
end /*t*/ /* [↑] all moves tried*/
return 0 /*path isn't possible. */
/*──────────────────────────────────────────────────────────────────────────────────────*/ shorter: return @1(nc-1, nr ) | @1(nc-1, nr-1) | @1(nc-1, nr+1) | @1(nc+1, nr ) |,
@1(nc+1, nr-1) | @1(nc+1, nr-1) | @1(nc , nr-1) | @1(nc , nr+1)</lang>
- output when using the default input:
A solution for the A* search algorithm on a 8x8 grid with a score of 12.
┌───┬───┬───┬───┬───┬───┬───┬───┐
│-0-│ │ │ │ │ │ │ │
├───┼───┼───┼───┼───┼───┼───┼───┤
│ │ 1 │ │ │ 4 │ 5 │ 6 │ │
├───┼───┼───┼───┼───┼───┼───┼───┤
│ │ │ 2 │ 3 │ █ │ █ │ █ │ 7 │
├───┼───┼───┼───┼───┼───┼───┼───┤
│ │ │ █ │ │ │ │ █ │ 8 │
├───┼───┼───┼───┼───┼───┼───┼───┤
│ │ │ █ │ │ │ │ █ │ 9 │
├───┼───┼───┼───┼───┼───┼───┼───┤
│ │ │ █ │ █ │ █ │ █ │ █ │10 │
├───┼───┼───┼───┼───┼───┼───┼───┤
│ │ │ │ │ │ │ │11 │
├───┼───┼───┼───┼───┼───┼───┼───┤
│ │ │ │ │ │ │ │end│
└───┴───┴───┴───┴───┴───┴───┴───┘
SequenceL
<lang sequencel> import <Utilities/Set.sl>; import <Utilities/Math.sl>; import <Utilities/Sequence.sl>;
Point ::= (x : int, y : int);
State ::= (open : Point(1), closed : Point(1), cameFrom : Point(2), estimate : int(2), actual : int(2));
allNeighbors := [(x : -1, y : -1), (x : 1, y : -1), (x : -1, y : 1), (x : 1, y : 1), (x : 0, y : -1), (x : -1, y : 0), (x : 0, y : 1), (x : 1, y : 0)];
defaultBarriers := [(x : 3, y : 5),(x : 3, y : 6),(x : 3, y : 7),(x : 4, y : 7), (x : 5, y : 7),(x : 6, y : 7),(x : 6, y : 6),(x : 6, y : 5),(x : 6, y : 4), (x : 6, y : 3),(x : 5, y : 3),(x : 4, y : 3)];
defaultWidth := 8; defaultHeight := 8;
main(args(2)) := aStar(defaultWidth, defaultHeight, defaultBarriers, (x : 1, y : 1), (x : defaultWidth, y : defaultHeight));
aStar(width, height, barriers(1), start, end) := let newEstimate[i,j] := heuristic(start, end) when i = start.x and j = start.y else 0 foreach i within 1...width, j within 1 ... height; newActual[i,j] := 0 foreach i within 1...width, j within 1...height; newCameFrom[i,j] := (x : 0, y : 0) foreach i within 1...width, j within 1...height;
searchResults := search((open : [start], closed : [], estimate : newEstimate, actual : newActual, cameFrom : newCameFrom), barriers, end); shortestPath := path(searchResults.cameFrom, start, end) ++ [end]; in "No Path Found" when size(searchResults.open) = 0 else "Path: " ++ toString(shortestPath) ++ "\nCost:" ++ toString(searchResults.actual[end.x, end.y]) ++ "\nMap:\n" ++ join(appendNT(drawMap(barriers,shortestPath,width, height),"\n"));
path(cameFrom(2), start, current) := let next := cameFrom[current.x, current.y]; in [] when current = start else path(cameFrom, start, next) ++ [next];
drawMap(barriers(1), path(1), width, height)[i,j] := '#' when elementOf((x:i, y:j), barriers) else 'X' when elementOf((x:i, y:j), path) else '.' foreach i within 1 ... width, j within 1 ... height;
search(state, barriers(1), end) := let nLocation := smallestEstimate(state.open, state.estimate, 2, 1, state.estimate[state.open[1].x, state.open[1].y]); n := state.open[nLocation]; neighbors := createNeighbors(n, allNeighbors, size(state.actual), size(state.actual[1])); startState := (open : state.open[1...nLocation-1] ++ state.open[nLocation+1 ... size(state.open)], closed : state.closed ++ [n], cameFrom : state.cameFrom, estimate : state.estimate, actual : state.actual); newState := findOpenNeighbors(n, startState, barriers, end, neighbors); in state when size(state.open) = 0 else state when n = end else search(newState, barriers, end);
smallestEstimate(open(1), estimate(2), index, minIndex, minEstimate) := let newEstimate := estimate[open[index].x, open[index].y]; in minIndex when index > size(open) else smallestEstimate(open, estimate, index + 1, minIndex, minEstimate) when newEstimate > minEstimate else smallestEstimate(open, estimate, index + 1, index, newEstimate);
findOpenNeighbors(n, state, barriers(1), end, neighbors(1)) := let neighbor := head(neighbors); cost := 1 + n.cost; candidate := state.actual[n.x, n.y] + calculateCost(barriers, n, neighbor); in state when size(neighbors) = 0 else findOpenNeighbors(n, state, barriers, end, tail(neighbors)) when elementOf(neighbor, state.closed) else findOpenNeighbors(n, state, barriers, end, tail(neighbors)) when elementOf(neighbor, state.open) and candidate >= state.actual[neighbor.x, neighbor.y] else findOpenNeighbors(n, (open : state.open ++ [neighbor], closed : state.closed, cameFrom : setMap(state.cameFrom, neighbor, n), estimate : setMap(state.estimate, neighbor, candidate + heuristic(neighbor, end)), actual : setMap(state.actual, neighbor, candidate)), barriers, end, tail(neighbors));
createNeighbors(n, p, w, h) := let x := n.x + p.x; y := n.y + p.y; in (x : x, y : y) when x >= 1 and x <= w and y >= 1 and y <= h;
calculateCost(barriers(1), start, end) := 100 when elementOf(end, barriers) else 1;
heuristic(start, end) := let dx := abs(start.x - end.x); dy := abs(start.y - end.y); in (dx + dy) - min(dx, dy);
setMap(map(2), point, value)[i,j] := value when point.x = i and point.y = j else map[i,j] foreach i within 1 ... size(map), j within 1 ... size(map[1]); </lang>
- Output
Path: [(x:1,y:1),(x:2,y:2),(x:3,y:3),(x:4,y:2),(x:5,y:2),(x:6,y:2),(x:7,y:3),(x:7,y:4),(x:7,y:5),(x:7,y:6),(x:7,y:7),(x:8,y:8)] Cost:11 Map: X....... .X...... ..X.###. .X#...#. .X#...#. .X#####. ..XXXXX. .......X
Sidef
<lang ruby>class AStarGraph {
has barriers = [
[2,4],[2,5],[2,6],[3,6],[4,6],[5,6],[5,5],[5,4],[5,3],[5,2],[4,2],[3,2]
]
method heuristic(start, goal) {
var (D1 = 1, D2 = 1)
var dx = abs(start[0] - goal[0])
var dy = abs(start[1] - goal[1])
(D1 * (dx + dy)) + ((D2 - 2*D1) * Math.min(dx, dy))
}
method get_vertex_neighbours(pos) {
gather {
for dx, dy in [[1,0],[-1,0],[0,1],[0,-1],[1,1],[-1,1],[1,-1],[-1,-1]] {
var x2 = (pos[0] + dx)
var y2 = (pos[1] + dy)
(x2<0 || x2>7 || y2<0 || y2>7) && next
take([x2, y2])
}
}
}
method move_cost(_a, b) {
barriers.contains(b) ? 100 : 1
}
}
func AStarSearch(start, end, graph) {
var G = Hash() var F = Hash()
G{start} = 0
F{start} = graph.heuristic(start, end)
var closedVertices = [] var openVertices = [start] var cameFrom = Hash()
while (openVertices) {
var current = nil
var currentFscore = Inf
for pos in openVertices {
if (F{pos} < currentFscore) {
currentFscore = F{pos}
current = pos
}
}
if (current == end) {
var path = [current]
while (cameFrom.contains(current)) {
current = cameFrom{current}
path << current
}
path.flip!
return (path, F{end})
}
openVertices.remove(current)
closedVertices.append(current)
for neighbour in (graph.get_vertex_neighbours(current)) {
if (closedVertices.contains(neighbour)) {
next
}
var candidateG = (G{current} + graph.move_cost(current, neighbour))
if (!openVertices.contains(neighbour)) {
openVertices.append(neighbour)
}
elsif (candidateG >= G{neighbour}) {
next
}
cameFrom{neighbour} = current
G{neighbour} = candidateG
var H = graph.heuristic(neighbour, end)
F{neighbour} = (G{neighbour} + H)
}
}
die "A* failed to find a solution"
}
var graph = AStarGraph() var (route, cost) = AStarSearch([0,0], [7,7], graph)
var w = 10 var h = 10
var grid = h.of { w.of { "." } } for y in (^h) { grid[y][0] = "█"; grid[y][-1] = "█" } for x in (^w) { grid[0][x] = "█"; grid[-1][x] = "█" }
for x,y in (graph.barriers) { grid[x+1][y+1] = "█" } for x,y in (route) { grid[x+1][y+1] = "x" }
grid.each { .join.say }
say "Path cost #{cost}: #{route}"</lang>
- Output:
██████████ █x.......█ █.x......█ █..x.███.█ █.x█...█.█ █.x█...█.█ █.x█████.█ █..xxxxx.█ █.......x█ ██████████ Path cost 11: [[0, 0], [1, 1], [2, 2], [3, 1], [4, 1], [5, 1], [6, 2], [6, 3], [6, 4], [6, 5], [6, 6], [7, 7]]
zkl
<lang zkl> // we use strings as hash keys: (x,y)-->"x,y", keys are a single pair fcn toKey(xy){ xy.concat(",") }
fcn AStarSearch(start,end,graph){
G:=Dictionary(); # Actual movement cost to each position from the start position
F:=Dictionary(); # Estimated movement cost of start to end going via this position
#Initialize starting values
kstart:=toKey(start);
G[kstart]=0;
F[kstart]=graph.heuristic(start,end);
closedVertices,openVertices,cameFrom := List(),List(start),Dictionary();
while(openVertices){
# Get the vertex in the open list with the lowest F score
current,currentFscore := Void, Void;
foreach pos in (openVertices){
kpos:=toKey(pos);
if(current==Void or F[kpos]<currentFscore)
currentFscore,current = F[kpos],pos;
# Check if we have reached the goal if(current==end){ # Yes! Retrace our route backward path,kcurrent := List(current),toKey(current); while(current = cameFrom.find(kcurrent)){ path.append(current); kcurrent=toKey(current); } return(path.reverse(),F[toKey(end)]) # Done! }
# Mark the current vertex as closed openVertices.remove(current); if(not closedVertices.holds(current)) closedVertices.append(current);
# Update scores for vertices near the current position foreach neighbor in (graph.get_vertex_neighbors(current)){ if(closedVertices.holds(neighbor)) continue; # We have already processed this node exhaustively kneighbor:=toKey(neighbor); candidateG:=G[toKey(current)] + graph.move_cost(current, neighbor);
if(not openVertices.holds(neighbor)) openVertices.append(neighbor); # Discovered a new vertex else if(candidateG>=G[kneighbor]) continue; # This G score is worse than previously found
# Adopt this G score cameFrom[kneighbor]=current; G[kneighbor]=candidateG; F[kneighbor]=G[kneighbor] + graph.heuristic(neighbor,end); }
}
} // while
throw(Exception.AssertionError("A* failed to find a solution"));
}</lang> <lang zkl>class [static] AStarGraph{ # Define a class board like grid with barriers
var [const] barriers =
T( T(3,2),T(4,2),T(5,2), // T is RO List
T(5,3), T(2,4), T(5,4), T(2,5), T(5,5), T(2,6),T(3,6),T(4,6),T(5,6) );
fcn heuristic(start,goal){ // (x,y),(x,y)
# Use Chebyshev distance heuristic if we can move one square either
# adjacent or diagonal
D,D2,dx,dy := 1,1, (start[0] - goal[0]).abs(), (start[1] - goal[1]).abs();
D*(dx + dy) + (D2 - 2*D)*dx.min(dy);
}
fcn get_vertex_neighbors([(x,y)]){ # Move like a chess king
var moves=Walker.cproduct([-1..1],[-1..1]).walk(); // 8 moves + (0,0)
moves.pump(List,'wrap([(dx,dy)]){
x2,y2 := x + dx, y + dy; if((dx==dy==0) or x2 < 0 or x2 > 7 or y2 < 0 or y2 > 7) Void.Skip; else T(x2,y2);
})
}
fcn move_cost(a,b){ // ( (x,y),(x,y) )
if(barriers.holds(b))
return(100); # Extremely high cost to enter barrier squares
1 # Normal movement cost }
}</lang> <lang zkl>graph:=AStarGraph; route,cost := AStarSearch(T(0,0), T(7,7), graph); println("Route: ", route.apply(fcn(xy){ String("(",toKey(xy),")") }).concat(",")); println("Cost: ", cost);
// graph the solution:
grid:=(10).pump(List,List.createLong(10," ").copy); foreach x,y in (graph.barriers){ grid[x][y]="#" } foreach x,y in (route){ grid[x][y]="+" } grid[0][0] = "S"; grid[7][7] = "E"; foreach line in (grid){ println(line.concat()) }</lang>
- Output:
Route: (0,0),(1,1),(2,2),(3,1),(4,0),(5,1),(6,2),(7,3),(7,4),(7,5),(7,6),(7,7) Cost: 11 S + + ### +# # + # # +##### + ++++E