A*算法—java代码

比眉伴天荒 2022-05-14 08:48 204阅读 0赞

[https://blog.csdn.net/ruils/article/details/40780657][https_blog.csdn.net_ruils_article_details_40780657]  
[https://blog.csdn.net/hitwhylz/article/details/23089415][https_blog.csdn.net_hitwhylz_article_details_23089415]  
[https://blog.csdn.net/denghecsdn/article/details/78778769][https_blog.csdn.net_denghecsdn_article_details_78778769]  
[https://www.cnblogs.com/21207-iHome/p/6048969.html][https_www.cnblogs.com_21207-iHome_p_6048969.html]

A\*算法原理：

在计算机科学中，A\*算法作为Dijkstra算法的扩展，因其高效性而被广泛应用于寻路及图的遍历，如星际争霸等游戏中就大量使用。在理解算法前，我们需要知道几个概念：

*  搜索区域（The Search
 *  开放列表(Open List)：我们将路径规划过程中待检测的节点存放于Open List中，而已检测过的格子则存放于Close
 *  父节点（parent）：在路径规划中用于回溯的节点，开发时可考虑为双向链表结构中的父结点指针。
 *  路径排序（Path Sorting）：具体往哪个节点移动由以下公式确定：F(n) = G + H。G代表的是从初始位置A沿着已生成的路径到指定待检测格子的移动开销。H指定待测格子到目标节点B的估计移动开销。
 *  启发函数（Heuristics  
    Function）：H为启发函数，也被认为是一种试探，由于在找到唯一路径前，我们不确定在前面会出现什么障碍物，因此用了一种计算H的算法，具体根据实际场景决定。在我们简化的模型中，H采用的是传统的曼哈顿距离（Manhattan  
    Distance），也就是横纵向走的距离之和。

import java.util.ArrayList;
    import java.util.List;
    
    public class AStar { 
    
        public static final int[][] maps = {
                {
       0, 0, 0, 0, 0, 0, 0, 0, 0},
                {
       0, 0, 0, 0, 0, 0, 0, 0, 0},
                {
       0, 0, 0, 0, 0, 0, 0, 0, 0},
                {
       0, 0, 0, 1, 0, 0, 0, 0, 0},
                {
       0, 0, 0, 1, 0, 0, 0, 0, 0},
                {
       0, 0, 0, 1, 0, 0, 0, 0, 0},
                {
       0, 0, 0, 1, 0, 0, 0, 0, 0},
                {
       0, 0, 0, 0, 0, 0, 0, 0, 0},
                {
       0, 0, 0, 0, 0, 0, 0, 0, 0},
        };
        // 四个方向
        public static final int[][] direct = {
       {
       0, 1}, {
       0, -1}, {
       1, 0}, {-1, 0}};
    
        public static final int step = 10;
    
        private ArrayList<Node> openList = new ArrayList<Node>();
        private ArrayList<Node> closeList = new ArrayList<Node>();
    
        public Node findMinFNodeInOpneList() {
            Node tempNode = openList.get(0);
            for (Node node : openList) {
                if (node.F < tempNode.F) {
                    tempNode = node;
                }
            }
            return tempNode;
        }
    
        public ArrayList<Node> findNeighborNodes(Node currentNode) {
            ArrayList<Node> arrayList = new ArrayList<Node>();
            // 只考虑上下左右，不考虑斜对角
            for (int i = 0; i < 4; i++) {
                int newX = currentNode.x + direct[i][0];
                int newY = currentNode.y + direct[i][1];
                // 如果当前节点的相邻节点，可达（不是障碍位置） 且 不在闭合链表
                if (canReach(newX, newY) && !exists(openList, newX, newY))
                    arrayList.add(new Node(newX, newY));
            }
    
            return arrayList;
        }
    
        public boolean canReach(int x, int y) {
            if (x >= 0 && x < maps.length && y >= 0 && y < maps[0].length) {
                return maps[x][y] == 0;
            }
            return false;
        }
    
        public Node findPath(Node startNode, Node endNode) {
    
            // 把起点加入 open list
            openList.add(startNode);
    
            while (openList.size() > 0) {
                // 遍历 open list ，查找 F值最小的节点，把它作为当前要处理的节点
                Node currentNode = findMinFNodeInOpneList();
                // 从open list中移除
                openList.remove(currentNode);
                // 把这个节点移到 close list
                closeList.add(currentNode);
    
                ArrayList<Node> neighborNodes = findNeighborNodes(currentNode);
                for (Node node : neighborNodes) {
                    //当前节点的相邻界节点已经在开放链表中
                    if (exists(openList, node)) {
                        foundPoint(currentNode, node);
                    } else {
                        notFoundPoint(currentNode, endNode, node);
                    }
                }
                //终点在开放链表中，则找到路径
                if (find(openList, endNode) != null) {
                    return find(openList, endNode);
                }
            }
    
            return find(openList, endNode);
        }
    
        private void foundPoint(Node tempStart, Node node) {
            int G = calcG(tempStart, node);
            //途径当前节点tempStart到达该节点node的距离G更小时，更新F
            if (G < node.G) {
                node.parent = tempStart;
                node.G = G;
                node.calcF();
            }
        }
    
        private void notFoundPoint(Node tempStart, Node end, Node node) {
            node.parent = tempStart;
            node.G = calcG(tempStart, node);
            node.H = calcH(end, node);
            node.calcF();
            openList.add(node);
        }
    
        private int calcG(Node start, Node node) {
            int G = step;
            int parentG = node.parent != null ? node.parent.G : 0;
            return G + parentG;
        }
    
        private int calcH(Node end, Node node) {
            int step = Math.abs(node.x - end.x) + Math.abs(node.y - end.y);
            return step * step;
        }
    
        public static void main(String[] args) {
            //定点:起点终点
            Node startNode = new Node(5, 1);
            Node endNode = new Node(2, 4);
            //尝试寻找最短路径
            Node parent = new AStar().findPath(startNode, endNode);
    
            printMap(maps);
    
            ArrayList<Node> arrayList = parent != null ? getPaths(parent) : null;
    
            printPaths(arrayList);
    
        }
    
        private static void printMap(int[][] maps) {
    
            for (int i = 0; i < maps[0].length; i++) {
                System.out.print("\t" + i + ",");
            }
            System.out.print("\n-----------------------------------------\n");
            int count = 0;
            for (int i = 0; i < maps.length; i++) {
                for (int j = 0; j < maps[0].length; j++) {
                    if (j == 0)
                        System.out.print(count++ + "|\t");
                    System.out.print(maps[i][j] + ",\t");
                }
                System.out.println();
            }
            System.out.println();
        }
    
        //从终点开始沿着路径退回起点
        private static ArrayList<Node> getPaths(Node endNode) {
            ArrayList<Node> arrayList = new ArrayList<Node>();
            Node pre = endNode;
            while (pre != null) {
                arrayList.add(new Node(pre.x, pre.y));
                pre = pre.parent;
            }
            return arrayList;
        }
    
        public static void printPaths(ArrayList<Node> arrayList) {
            // 地图形式
            for (int i = 0; i < maps[0].length; i++) {
                System.out.print("\t" + i + ",");
            }
            System.out.print("\n-----------------------------------------\n");
            int count = 0;
    
            for (int i = 0; i < maps.length; i++) {
                for (int j = 0; j < maps[0].length; j++) {
                    if (j == 0)
                        System.out.print(count++ + "|\t");
                    if (exists(arrayList, i, j)) {
                        System.out.print("@,\t");
                    } else {
                        System.out.print(maps[i][j] + ",\t");
                    }
    
                }
                System.out.println();
            }
            System.out.println();
            // 路径形式
            for (int i = arrayList.size() - 1; i >= 0; i--) {
                if (i == 0)
                    System.out.print(arrayList.get(i));
                else
                    System.out.print(arrayList.get(i) + "->");
            }
            System.out.println();
        }
    
        public static Node find(List<Node> maps, Node point) {
            for (Node n : maps)
                if ((n.x == point.x) && (n.y == point.y)) {
                    return n;
                }
            return null;
        }
    
        public static boolean exists(List<Node> maps, Node node) {
            for (Node n : maps) {
                if ((n.x == node.x) && (n.y == node.y)) {
                    return true;
                }
            }
            return false;
        }
    
        public static boolean exists(List<Node> maps, int x, int y) {
            for (Node n : maps) {
                if ((n.x == x) && (n.y == y)) {
                    return true;
                }
            }
            return false;
        }
    
    
    }
    
    class Node {
        public Node(int x, int y) {
            this.x = x;
            this.y = y;
        }
    
        public int x;
        public int y;
    
        public int F;
        public int G;
        public int H;
    
        public void calcF() {
            this.F = this.G + this.H;
        }
    
        public Node parent;
    
        @Override
        public String toString() {
            return "(" + x + "," + y + ")";
        }
    }

结果

0, 1, 2, 3, 4, 5, 6, 7, 8, -----------------------------------------
    0|  0,  0,  0,  0,  0,  0,  0,  0,  0,  
    1|  0,  0,  0,  0,  0,  0,  0,  0,  0,  
    2|  0,  0,  0,  0,  0,  0,  0,  0,  0,  
    3|  0,  0,  0,  1,  0,  0,  0,  0,  0,  
    4|  0,  0,  0,  1,  0,  0,  0,  0,  0,  
    5|  0,  0,  0,  1,  0,  0,  0,  0,  0,  
    6|  0,  0,  0,  1,  0,  0,  0,  0,  0,  
    7|  0,  0,  0,  0,  0,  0,  0,  0,  0,  
    8|  0,  0,  0,  0,  0,  0,  0,  0,  0,  
    
     0, 1, 2, 3, 4, 5, 6, 7, 8, -----------------------------------------
    0|  0,  0,  0,  0,  0,  0,  0,  0,  0,  
    1|  0,  0,  0,  0,  0,  0,  0,  0,  0,  
    2|  0,  0,  @,  @,  @,  0,  0,  0,  0,  
    3|  0,  0,  @,  1,  0,  0,  0,  0,  0,  
    4|  0,  0,  @,  1,  0,  0,  0,  0,  0,  
    5|  0,  @,  @,  1,  0,  0,  0,  0,  0,  
    6|  0,  0,  0,  1,  0,  0,  0,  0,  0,  
    7|  0,  0,  0,  0,  0,  0,  0,  0,  0,  
    8|  0,  0,  0,  0,  0,  0,  0,  0,  0,  
    
    (5,1)->(5,2)->(4,2)->(3,2)->(2,2)->(2,3)->(2,4)

[https_blog.csdn.net_ruils_article_details_40780657]: https://blog.csdn.net/ruils/article/details/40780657
[https_blog.csdn.net_hitwhylz_article_details_23089415]: https://blog.csdn.net/hitwhylz/article/details/23089415
[https_blog.csdn.net_denghecsdn_article_details_78778769]: https://blog.csdn.net/denghecsdn/article/details/78778769
[https_www.cnblogs.com_21207-iHome_p_6048969.html]: https://www.cnblogs.com/21207-iHome/p/6048969.html