迷宫算法
来源：互联网 发布：河南大学 双一流 知乎 编辑：程序博客网 时间：2024/05/22 15:05
/** * Created by aaron on 16-3-16. * * • F = G+H * •G＝从起点A沿着已生成的路径到一个给定方格的移动开销。 * • H＝从给定方格到目的方格的估计移动开销。这种方式常叫做试探，有点困惑人吧。其实之所以叫做试探法是因为这只是一个猜测。在找到路径之前我们实际上并不知道实际的距离，因为任何东西都有可能出现在半路上（墙啊，水啊什么的）。本文中给出了一种计算H值的方法，网上还有很多其他文章介绍的不同方法。 * */public class RobotTest { static Piece start; static Piece end; static Piece[][] pieces; public static Piece[][] init(){ Piece[][] pieces = new Piece[5][7]; start = pieces[2][1] = new Piece(2,1,PieceType.START); end = pieces[2][5] = new Piece(2,5,PieceType.END); pieces[2][1].setG(0); pieces[2][1].setH(calcH(pieces[2][1],pieces[2][5])); pieces[2][1].setF(pieces[2][1].getH()); for(int i=0;i<pieces.length;i++){ for(int j=0;j<pieces[i].length;j++){ if(i == 2 && j == 1){ }else if(i == 2 && j == 5){ }else if(j == 3 && (i==1||i==2||i==3)){ pieces[i][j] = new Piece(i,j,PieceType.WALL); }else{ pieces[i][j] = new Piece(i,j,PieceType.EMPTY); } } } return pieces; } public static void test(Piece[][] pieces){// System.out.println(calcH(pieces[3][0],pieces[2][5]));// System.out.println(calcH(pieces[3][2],pieces[2][5]));// System.out.println(calcH(pieces[1][2],pieces[2][5])); System.out.println(calcG(pieces[0][1],pieces[0][2])); System.out.println(calcG(pieces[0][1],pieces[1][1])); System.out.println(calcG(pieces[0][1],pieces[1][2]));// System.out.println(calcG(pieces[0][1],pieces[0][3]));// System.out.println(calcG(pieces[0][1],pieces[2][1]));// System.out.println(calcG(pieces[0][1],pieces[2][2])); } public static int calcF(Piece start,Piece end){ return calcG(start,end)+calcH(start,end); } public static void main(String[] args) { pieces = init(); display(pieces); //test(pieces); process(pieces); } public static void process(Piece[][] pieces){ Piece start = pieces[2][1]; Piece end = pieces[2][5]; List<Piece> openList = new ArrayList<Piece>(Arrays.asList(start)); List<Piece> closeList = new ArrayList<Piece>(); process(pieces,openList,closeList,end); } public static int indexOfMinF(List<Piece> pieces){ int index = 0; int minF = pieces.get(0).getF(); int size = pieces.size(); for(int i=0;i<size;i++){ if(pieces.get(i).getF() < minF){ minF = pieces.get(i).getF(); index = i; } } return index; } public static void process(Piece[][] pieces,List<Piece> openList,List<Piece> closeList,Piece end){// System.out.println(openList);// System.out.println(closeList);// System.out.println("******************************************************");// displayDetail(pieces);// System.out.println("******************************************************"); if(!CollectionUtils.isEmpty(openList) && !openList.contains(end)){ Piece currentPiece = openList.remove(indexOfMinF(openList)); processAround(pieces,currentPiece,openList,closeList); closeList.add(currentPiece); process(pieces,openList,closeList,end); }else if(openList.contains(end)){ // Found System.out.println("Found"); displayDetail(pieces); Piece next = end; while(next != null){ System.out.print(next); next = next.getParent(); if(next != null){ System.out.print("\t--->\t"); } } }else{ // No route System.out.println("No route found"); } } public static void processAround(Piece[][] pieces,Piece currentPiece,List<Piece> openList,List<Piece> closeList){ int currentX = currentPiece.getX(); int currentY = currentPiece.getY(); int width = pieces[currentX].length; int height = pieces.length; Piece tmp = null;// if((currentPiece.getY()==4 && (currentPiece.getX()==1||currentPiece.getX()==2||currentPiece.getX()==3))||(currentPiece.getY()==5&&(currentPiece.getX()==1||currentPiece.getX()==3))){// System.out.println("processing...");// System.out.println("...");// } if(currentX - 1 >= 0){ tmp = pieces[currentX-1][currentY]; if(canAdd(currentPiece,tmp,closeList,openList)){ tmp.setParent(currentPiece); openList.add(tmp); } if(currentY - 1 >= 0){ tmp = pieces[currentX-1][currentY-1]; if(canAdd(currentPiece,tmp,closeList,openList)){ tmp.setParent(currentPiece); openList.add(tmp); } } if(currentY + 1 <= width - 1){ tmp = pieces[currentX-1][currentY+1]; if(canAdd(currentPiece,tmp,closeList,openList)){ tmp.setParent(currentPiece); openList.add(tmp); } } } if(currentX+1 <= height-1){ tmp = pieces[currentX+1][currentY]; if(canAdd(currentPiece,tmp,closeList,openList)){ tmp.setParent(currentPiece); openList.add(tmp); } if(currentY-1>=0){ tmp = pieces[currentX+1][currentY-1]; if(canAdd(currentPiece,tmp,closeList,openList)){ tmp.setParent(currentPiece); openList.add(tmp); } } if(currentY+1<=width-1){ tmp = pieces[currentX+1][currentY+1]; if(canAdd(currentPiece,tmp,closeList,openList)){ tmp.setParent(currentPiece); openList.add(tmp); } } } if(currentY-1>=0){ tmp = pieces[currentX][currentY-1]; if(canAdd(currentPiece,tmp,closeList,openList)){ tmp.setParent(currentPiece); openList.add(tmp); } } if(currentY+1<=width-1){ tmp = pieces[currentX][currentY+1]; if(canAdd(currentPiece,tmp,closeList,openList)){ tmp.setParent(currentPiece); openList.add(tmp); } } } private static boolean aroundObstacle(Piece one,Piece another, Piece[][] pieces){ if(Math.abs(one.getX()-another.getX()) == 1 && Math.abs(one.getY()-another.getY()) == 1) { // 对角线 int oneX = one.getX(); int oneY = one.getY(); int anotherX = another.getX(); int anotherY = another.getY(); if(pieces[oneX][anotherY].isObstacle()||pieces[anotherX][oneY].isObstacle()){ return true; } } return false; } public static boolean canAdd(Piece currentPiece, Piece piece, List<Piece> closeList, List<Piece> openList){ if(piece.isObstacle() || closeList.contains(piece) || aroundObstacle(currentPiece,piece,pieces)){ return false; } if(openList.contains(piece)){ if(currentPiece.getG()+calcG(currentPiece,piece) < piece.getG()){ // better,then update System.out.print("Better route of {"+piece.getX()+","+piece.getY()+"}:["+piece.getF()+","+piece.getG()+","+piece.getH()+"]\t"); piece.setG(currentPiece.getG()+calcG(currentPiece,piece)); piece.setF(piece.getG()+piece.getH()); System.out.println("["+piece.getF()+","+piece.getG()+","+piece.getH()+"]\t"); } return false; }else{ piece.setG(currentPiece.getG()+calcG(currentPiece,piece)); piece.setH(calcH(end,piece)); piece.setF(piece.getH()+piece.getG()); return true; } } public static void sleep(long time){ try { Thread.currentThread().sleep(time); } catch (InterruptedException e) { e.printStackTrace(); } } public static int calcH(Piece start,Piece end){ return 10 * (Math.abs(start.getX()-end.getX()) + Math.abs(start.getY()-end.getY())); } public static int calcG(Piece start,Piece end){ if(Math.abs(start.getX()-end.getX()) > 1 || Math.abs(start.getY()-end.getY()) > 1){ throw new RuntimeException("Only one step is allowed.Start {"+start.toString()+"} End {"+end.toString()+"}"); } if(Math.abs(start.getX()-end.getX()) == 1 && Math.abs(start.getY()-end.getY()) == 1){ return 14; }else{ return 10; } } public static void display(Piece[][] pieces){ for(int i=0;i<pieces.length;i++){ for(int j=0;j<pieces[i].length;j++){ if(pieces[i][j].pieceType == PieceType.WALL){ System.err.print("* "); sleep(100); }else if(pieces[i][j].pieceType == PieceType.START){ System.err.print("o "); sleep(100); }else if(pieces[i][j].pieceType == PieceType.END){ System.err.print("O "); sleep(100); }else{ System.out.print("* "); sleep(100); } } System.out.println(); sleep(100); } } public static void displayDetail(Piece[][] pieces){ for(int i=0;i<pieces.length*2;i++){ boolean firstLine = i%2==0; for(int j=0;j<pieces[i/2].length;j++){ if(firstLine){ System.out.print(pieces[i/2][j].getF()+"\t[]\t\t"); }else{ System.out.print(pieces[i/2][j].getG()+"\t"+pieces[i/2][j].getH()+"\t\t"); } } System.out.println(); if(!firstLine){ System.out.println(); } } }}enum PieceType{ EMPTY(0), WALL(1), START(2), END(3); private int value; private PieceType(int value){ this.value = value; } public int value(){ return this.value; }}class Piece{ int x; int y; int f; int g; int h; Piece parent; PieceType pieceType; public Piece(int x,int y, PieceType pieceType){ this.x = x; this.y = y; this.pieceType = pieceType; } // 是否是障碍 public boolean isObstacle(){ return this.pieceType != PieceType.EMPTY && this.pieceType != PieceType.START && this.pieceType != PieceType.END; } public int getX() { return x; } public void setX(int x) { this.x = x; } public int getY() { return y; } public void setY(int y) { this.y = y; } public int getF() { return f; } public void setF(int f) { this.f = f; } public int getG() { return g; } public void setG(int g) { this.g = g; } public int getH() { return h; } public void setH(int h) { this.h = h; } public Piece getParent() { return parent; } public void setParent(Piece parent) { this.parent = parent; } @Override public String toString() {// return ToStringBuilder.reflectionToString(this); return "["+x+","+y+","+f+","+g+","+h+"]"; }} 0 0
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