s464868/Inteligentny_Traktor_Grupa_16
s464868/Inteligentny_Traktor_Grupa_16
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fixed bfs algorythm

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This commit is contained in:
Dawid Pylak 2022-04-07 12:49:00 +02:00
parent 3ad7a8fa1f
commit 1b2a4a376b
4 changed files with 27 additions and 20 deletions
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2
.idea/misc.xml
View File

@ -1,4 +1,4 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<project version="4"> <project version="4">
<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9 (ai-project)" project-jdk-type="Python SDK" /> <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
</project> </project>

5
main.py
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@ -3,6 +3,8 @@ import pygame
from src.world import World from src.world import World
from src.tractor import Tractor from src.tractor import Tractor
from src.settings import Settings from src.settings import Settings
from src.utils.bfs import BFSSearcher
from src.constants import Constants
def main(): def main():
@ -17,6 +19,9 @@ def main():
screen = pygame.display.set_mode((settings.screen_width, settings.screen_height)) screen = pygame.display.set_mode((settings.screen_width, settings.screen_height))
pygame.display.set_caption('TRAKTOHOLIK') pygame.display.set_caption('TRAKTOHOLIK')
search = BFSSearcher().search((8, 1), (6, 2), Constants.UP)
print(search)
run = True run = True
while run: while run:
clock.tick(settings.fps) clock.tick(settings.fps)

8
src/constants.py
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@ -2,9 +2,9 @@ class Constants:
""" Class to represent all constants for the app """ """ Class to represent all constants for the app """
MOVE = "move" MOVE = "move"
UP = "up" UP = [0, 1]
DOWN = "down" DOWN = [0, -1]
RIGHT = "right" RIGHT = [1, 0]
LEFT = "left" LEFT = [-1, 0]
ROTATE_RIGHT = "rotate_right" ROTATE_RIGHT = "rotate_right"
ROTATE_LEFT = "rotate_left" ROTATE_LEFT = "rotate_left"

32
src/utils/bfs.py
View File

@ -5,6 +5,7 @@ class Node:
def __init__(self, current_x, current_y, agent_direction, action=None, parent=None): def __init__(self, current_x, current_y, agent_direction, action=None, parent=None):
self.current_x = current_x self.current_x = current_x
self.current_y = current_y self.current_y = current_y
self.state = tuple([self.current_x, self.current_y])
self.action = action self.action = action
self.parent = parent self.parent = parent
self.agent_direction = agent_direction self.agent_direction = agent_direction
@ -39,7 +40,7 @@ class Node:
neighbours.append((actions, (x - 1, y), C.LEFT)) neighbours.append((actions, (x - 1, y), C.LEFT))
if y > 0: # upper neighbour if y < 9: # upper neighbour
if self.agent_direction == C.RIGHT: if self.agent_direction == C.RIGHT:
actions = [C.ROTATE_LEFT, C.MOVE] actions = [C.ROTATE_LEFT, C.MOVE]
elif self.agent_direction == C.LEFT: elif self.agent_direction == C.LEFT:
@ -49,9 +50,9 @@ class Node:
elif self.agent_direction == C.DOWN: elif self.agent_direction == C.DOWN:
actions = [C.ROTATE_LEFT, C.ROTATE_LEFT, C.MOVE] actions = [C.ROTATE_LEFT, C.ROTATE_LEFT, C.MOVE]
neighbours.append((actions, (x, y - 1), C.UP)) neighbours.append((actions, (x, y + 1), C.UP))
if y < 9: # down neighbour if y > 0: # down neighbour
if self.agent_direction == C.RIGHT: if self.agent_direction == C.RIGHT:
actions = [C.ROTATE_RIGHT, C.MOVE] actions = [C.ROTATE_RIGHT, C.MOVE]
elif self.agent_direction == C.LEFT: elif self.agent_direction == C.LEFT:
@ -61,10 +62,12 @@ class Node:
elif self.agent_direction == C.DOWN: elif self.agent_direction == C.DOWN:
actions = C.MOVE actions = C.MOVE
neighbours.append((actions, (x, y + 1), C.DOWN)) neighbours.append((actions, (x, y - 1), C.DOWN))
return neighbours return neighbours
def __str__(self):
return self.state + ' ' + self.parent
class BFSSearcher: class BFSSearcher:
@ -73,30 +76,27 @@ class BFSSearcher:
self.explored_states = [] self.explored_states = []
self.path = [] self.path = []
def search(self, first_state: tuple, goal, agent_direction): def search(self, first_state: tuple, goal: tuple, agent_direction: list):
self.fringe.append(Node(first_state[0], first_state[1], agent_direction)) self.fringe.append(Node(first_state[0], first_state[1], agent_direction))
while True: while True:
if not self.fringe: if not self.fringe:
return False return False
element = self.fringe.pop(0) element: Node = self.fringe.pop(0)
if element.state == goal: if element.state == goal:
return self.__state_eq_goal_action(element) return self.__state_eq_goal_action(element)
self.explored_states.append(element) self.explored_states.append(element)
for action, state, direction in element.successor():
for action, state, direction in element.succesor():
fringe_states = [] fringe_states = []
explored_states = [] explored_states = []
for node in self.fringe: for node in self.fringe:
fringe_states.append(node.state) fringe_states.append(node.state)
for node in self.explored_states: for node in self.explored_states:
explored_states.append(node) explored_states.append(node.state)
if state not in fringe_states and state not in explored_states: if (state not in fringe_states) and (state not in explored_states):
x = Node(state[0], state[1], direction) x = Node(state[0], state[1], direction, action, element)
x.parent = element
x.action = action
self.fringe.append(x) self.fringe.append(x)
def __state_eq_goal_action(self, current_element: Node): def __state_eq_goal_action(self, current_element: Node):
@ -107,5 +107,7 @@ class BFSSearcher:
self.path.append(action) self.path.append(action)
else: else:
self.path.append(current_element.action) self.path.append(current_element.action)
current_element = current_element.parent
return self.path.reverse() self.path.reverse()
return self.path