a star, robot uwzglednia koszt
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@ -89,11 +89,17 @@ class AI:
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def bfs(self):
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dists = [] # how long way is to all mines from start([0, 0])
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for mine in self.current_map.mines:
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dists.append(sqrt((self.saper.position_x-mine.position_x)**2 + (self.saper.position_y-mine.position_y)**2))
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# dists.append(sqrt((self.saper.position_x-mine.position_x)**2 + (self.saper.position_y-mine.position_y)**2))
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dists.append(abs(self.saper.position_x - mine.position_x) + abs(self.saper.position_y - mine.position_y))
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print(dists)
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ind = dists.index(min(dists)) # choose nearest mine
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goal_state = [self.current_map.mines[ind].position_x, self.current_map.mines[ind].position_y]
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print(f'We go to {goal_state}')
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find_path = bfs.BFS(self.saper, self.window)
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self.the_way = find_path.graphsearch([], [], bfs.BFS.successor, goal_state)
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tmp = find_path.graphsearch([], [], bfs.BFS.successor, goal_state)
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print(f'tmp = {tmp}')
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if tmp is None:
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raise Exception("Error, path does not exist")
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else:
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self.the_way = tmp
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265
classes/bfs.py
265
classes/bfs.py
@ -1,6 +1,5 @@
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import heapq # dla utrzymania fringe
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from classes import node, minesweeper, system
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import time
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class BFS:
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@ -15,180 +14,122 @@ class BFS:
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def successor(self, current_position):
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new_nodes = []
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neighbours_list = self.agent.sensor(current_position[0], current_position[1])
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#print(f'Current position {current_position}')
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#print(neighbours_list[0])
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#print(neighbours_list[1])
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#print(neighbours_list[2])
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#print(neighbours_list)
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# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# new_nodes.append([current_position[0] - 1, current_position[1]])
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# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# new_nodes.append([current_position[0], current_position[1] + 1])
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# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# new_nodes.append([current_position[0] + 1, current_position[1]])
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# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# new_nodes.append([current_position[0],current_position[1] - 1])
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# if current_position[2] == 0: # jesli patrzy na polnoc
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# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('forward', [current_position[0] - 1, current_position[1], 0])
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# new_nodes.append(tmp)
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# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('left', [current_position[0],current_position[1], 270])
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# new_nodes.append(tmp)
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# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('right', [current_position[0], current_position[1], 90])
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# new_nodes.append(tmp)
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#
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# if current_position[2] == 90: # jesli patrzy na wschod
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# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('forward', [current_position[0], current_position[1] + 1, 90])
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# new_nodes.append(tmp)
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# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('left', [current_position[0], current_position[1], 0])
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# new_nodes.append(tmp)
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# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('right', [current_position[0], current_position[1], 180])
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# new_nodes.append(tmp)
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#
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# if current_position[2] == 180: # jesli patczy na poludzie
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# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('forward', [current_position[0] + 1, current_position[1], 180])
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# new_nodes.append(tmp)
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# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('left', [current_position[0], current_position[1], 90])
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# new_nodes.append(tmp)
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# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('right', [current_position[0],current_position[1], 270])
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# new_nodes.append(tmp)
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#
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# if current_position[2] == 270: # jesli patczy na wschod
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# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('forward', [current_position[0],current_position[1] - 1, 270])
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# new_nodes.append(tmp)
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# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('left', [current_position[0], current_position[1], 180])
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# new_nodes.append(tmp)
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# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('right', [current_position[0], current_position[1], 0])
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# new_nodes.append(tmp)
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if current_position[2] == 180: # jesli patrzy na polnoc
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if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[0][1] == 'grass':
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cost = 5
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cost = 10
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elif neighbours_list[0][1] == 'sand':
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cost = 1
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cost = 2
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elif neighbours_list[0][1] == 'mine':
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cost = 0
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tmp = ('forward', [current_position[0], current_position[1] - 1, 180], cost)
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new_nodes.append(tmp)
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if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[1][0] == 'grass':
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cost = 5
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elif neighbours_list[1][0] == 'sand':
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cost = 1
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elif neighbours_list[1][0] == 'mine':
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cost = 0
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tmp = ('left', [current_position[0],current_position[1], 270], cost)
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# if neighbours_list[1][0] == 'grass':
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# cost = 10
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# elif neighbours_list[1][0] == 'sand':
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# cost = 2
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# elif neighbours_list[1][0] == 'mine':
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# cost = 0
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tmp = ('left', [current_position[0],current_position[1], 270], 1)
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new_nodes.append(tmp)
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if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[1][2] == 'grass':
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cost = 5
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elif neighbours_list[1][2] == 'sand':
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cost = 1
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elif neighbours_list[1][2] == 'mine':
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cost = 0
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tmp = ('right', [current_position[0], current_position[1], 90], cost)
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# if neighbours_list[1][2] == 'grass':
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# cost = 10
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# elif neighbours_list[1][2] == 'sand':
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# cost = 2
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# elif neighbours_list[1][2] == 'mine':
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# cost = 0
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tmp = ('right', [current_position[0], current_position[1], 90], 1)
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new_nodes.append(tmp)
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if current_position[2] == 90: # jesli patrzy na wschod
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if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[1][2] == 'grass':
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cost = 5
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cost = 10
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elif neighbours_list[1][2] == 'sand':
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cost = 1
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cost = 2
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elif neighbours_list[1][2] == 'mine':
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cost = 0
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tmp = ('forward', [current_position[0] + 1, current_position[1], 90], cost)
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new_nodes.append(tmp)
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if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[0][1] == 'grass':
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cost = 5
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elif neighbours_list[0][1] == 'sand':
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cost = 1
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elif neighbours_list[0][1] == 'mine':
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cost = 0
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tmp = ('left', [current_position[0], current_position[1], 180], cost)
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# if neighbours_list[0][1] == 'grass':
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# cost = 10
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# elif neighbours_list[0][1] == 'sand':
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# cost = 2
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# elif neighbours_list[0][1] == 'mine':
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# cost = 0
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tmp = ('left', [current_position[0], current_position[1], 180], 1)
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new_nodes.append(tmp)
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if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[2][1] == 'grass':
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cost = 5
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elif neighbours_list[2][1] == 'sand':
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cost = 1
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elif neighbours_list[2][1] == 'mine':
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cost = 0
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tmp = ('right', [current_position[0], current_position[1], 0], cost)
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# if neighbours_list[2][1] == 'grass':
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# cost = 10
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# elif neighbours_list[2][1] == 'sand':
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# cost = 2
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# elif neighbours_list[2][1] == 'mine':
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# cost = 0
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tmp = ('right', [current_position[0], current_position[1], 0], 1)
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new_nodes.append(tmp)
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if current_position[2] == 0: # jesli patczy na poludzie
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if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[2][1] == 'grass':
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cost = 5
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cost = 10
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elif neighbours_list[2][1] == 'sand':
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cost = 1
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cost = 2
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elif neighbours_list[2][1] == 'mine':
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cost = 0
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tmp = ('forward', [current_position[0], current_position[1] + 1, 0], cost)
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new_nodes.append(tmp)
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if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[1][2] == 'grass':
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cost = 5
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elif neighbours_list[1][2] == 'sand':
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cost = 1
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elif neighbours_list[1][2] == 'mine':
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cost = 0
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tmp = ('left', [current_position[0], current_position[1], 90], cost)
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# if neighbours_list[1][2] == 'grass':
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# cost = 10
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# elif neighbours_list[1][2] == 'sand':
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# cost = 2
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# elif neighbours_list[1][2] == 'mine':
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# cost = 0
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tmp = ('left', [current_position[0], current_position[1], 90], 1)
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new_nodes.append(tmp)
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if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[1][0] == 'grass':
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cost = 5
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elif neighbours_list[1][0] == 'sand':
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cost = 1
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elif neighbours_list[1][0] == 'mine':
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cost = 0
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tmp = ('right', [current_position[0],current_position[1], 270], cost)
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# if neighbours_list[1][0] == 'grass':
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# cost = 10
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# elif neighbours_list[1][0] == 'sand':
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# cost = 2
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# elif neighbours_list[1][0] == 'mine':
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# cost = 0
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tmp = ('right', [current_position[0],current_position[1], 270], 1)
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new_nodes.append(tmp)
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if current_position[2] == 270: # jesli patczy na wschod
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if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[1][0] == 'grass':
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cost = 5
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cost = 10
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elif neighbours_list[1][0] == 'sand':
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cost = 1
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cost = 2
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elif neighbours_list[1][0] == 'mine':
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cost = 0
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tmp = ('forward', [current_position[0] - 1,current_position[1], 270], cost)
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new_nodes.append(tmp)
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if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[2][1] == 'grass':
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cost = 5
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elif neighbours_list[2][1] == 'sand':
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cost = 1
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elif neighbours_list[2][1] == 'mine':
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cost = 0
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tmp = ('left', [current_position[0], current_position[1], 0], cost)
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# if neighbours_list[2][1] == 'grass':
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# cost = 10
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# elif neighbours_list[2][1] == 'sand':
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# cost = 2
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# elif neighbours_list[2][1] == 'mine':
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# cost = 0
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tmp = ('left', [current_position[0], current_position[1], 0], 1)
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new_nodes.append(tmp)
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if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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if neighbours_list[0][1] == 'grass':
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cost = 5
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elif neighbours_list[0][1] == 'sand':
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cost = 1
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elif neighbours_list[0][1] == 'mine':
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cost = 0
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tmp = ('right', [current_position[0], current_position[1], 180], cost)
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# if neighbours_list[0][1] == 'grass':
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# cost = 10
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# elif neighbours_list[0][1] == 'sand':
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# cost = 2
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# elif neighbours_list[0][1] == 'mine':
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# cost = 0
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tmp = ('right', [current_position[0], current_position[1], 180], 1)
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new_nodes.append(tmp)
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return new_nodes
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@ -208,29 +149,25 @@ class BFS:
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self.window.pause(True)
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positiont_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees] # x, y, gdzie_patczy
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print(f'Position {positiont_at_beginning}')
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position_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees] # x, y, gdzie_patczy
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final_action_list = [] # lista co ma robic zeby dojechac do miny
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root = node.Node(None, None, positiont_at_beginning, 0) # parent, action, position
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counter = 0
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heapq.heappush(fringe, (counter, root))
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#visited_position = []
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root = node.Node(None, None, position_at_beginning, 0) # parent, action, position, cost
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heapq.heappush(fringe, (0, root)) # add first node to fringe
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while len(fringe) != 0:
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flag = True
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while len(fringe) != 0: # poki sa wezly do odwiedzenia(na fringe)
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if len(fringe) == 0:
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return False
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tmp_node = heapq.heappop(fringe) # node
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# get node from fringe
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tmp_node = heapq.heappop(fringe) # tuple(priority, node)
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tmp_node_position = tmp_node[1].get_position() # x, y , gdzie patczy
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#print(f'Position before succ {tmp_node_position}')
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#visited_position.append(tmp_node_position)
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explored.append(tmp_node_position)
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# jesli tmp node to goaltest
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if tmp_node_position[:2] == goaltest:
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print('Find')
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@ -238,28 +175,60 @@ class BFS:
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final_action_list.append(tmp_node[1].get_action())
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tmp_node = tmp_node[1].get_parent()
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final_action_list.reverse()
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print(final_action_list)
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#print(final_action_list)
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self.window.pause(False)
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return final_action_list
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# nie wiem na razie po co to
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# chyba visited_position lepszy odpowiednik
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# explored.append(tmp_node)
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explored.append(tmp_node[1]) # add node to array of visited nodes
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neighbours_list_of_our_node = self.successor(tmp_node_position) # lista możliwych akcij
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#print(neighbours_list_of_our_node)
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for node_ in neighbours_list_of_our_node:
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# jesli pozucja wezla nie jest w fringe i nie jest w visited
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if [node_[1][0], node_[1][1], node_[1][2]] not in explored and node_[1][0] >= 0 and node_[1][1] >=0:
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counter += 1
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x = node.Node(tmp_node, node_[0], node_[1], node_[2]) # action
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heapq.heappush(fringe, (counter, x))
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self.window.draw_search([self.agent.position_x, self.agent.position_y], [node_[1][0], node_[1][1]], self.agent.current_map.tile_size, self.agent.current_map, self.agent)
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p = manhattan(node_[1], goaltest) + node_[2]
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# print(f'Mancgeten = {p}')
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notInFringe = True # false if node in fringe
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notInExplored = True # false if node in explored
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# if node_[1] is None:
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# continue
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p = manhattan(node_[1], goaltest) + node_[2]
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# wyznacza jaki jest priorytet nastempnika
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# manchaten from node_ + cost of way from tmp_ode to node_
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priority_in_fringe = 0
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counter = 0
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tmp_position_in_fringe = 0 # zero if node not in fringe
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for fringeNode in fringe: # isc po wszystkich wezlach ktore juz sa w fringe
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# jesli nasz wezel juz jest w fringe
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if fringeNode[1].get_position()[0] == node_[1][0] and fringeNode[1].get_position()[1] == node_[1][1] and fringeNode[1].get_position()[2] == node_[1][2]:
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notInFringe = False
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priority_in_fringe = fringeNode[0]
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# number of element in fringe
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tmp_position_in_fringe = counter
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counter = counter + 1
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for exploredNode in explored: # isc po wszystkich wezlach z listy explored
|
||||
# jesli nasz wezel juz jest w explored
|
||||
if exploredNode.get_position()[0] == node_[1][0] and exploredNode.get_position()[1] == node_[1][1] and exploredNode.get_position()[2] == node_[1][2]:
|
||||
notInExplored = False
|
||||
|
||||
|
||||
# if node not in fringe and not in explored
|
||||
if notInFringe and notInExplored:
|
||||
x = node.Node(tmp_node, node_[0], node_[1], node_[2]) # parent, action, state_array, cost
|
||||
heapq.heappush(fringe, (p, x))
|
||||
# if node not in fringe
|
||||
elif notInFringe is False and (priority_in_fringe > p):
|
||||
x = node.Node(tmp_node, node_[0], node_[1], node_[2]) # parent, action, state_array, cost
|
||||
tmp = list(fringe[tmp_position_in_fringe])
|
||||
tmp[0] = p
|
||||
tmp[1] = x
|
||||
fringe[tmp_position_in_fringe] = tuple(tmp)
|
||||
#self.window.draw_search([self.agent.position_x, self.agent.position_y], [node_[1][0], node_[1][1]],self.agent.current_map.tile_size, self.agent.current_map, self.agent)
|
||||
|
||||
|
||||
|
||||
|
||||
@ -113,7 +113,7 @@ class Map:
|
||||
if ok and rng==0 and not (i<2 and j<3):
|
||||
|
||||
matrix[i].append(10) #kamień
|
||||
elif ok and rng>8 and not (i<2 and j<3):
|
||||
elif ok and rng>4 and not (i<2 and j<3):
|
||||
matrix[i].append(5) #trawa
|
||||
elif ok and rng<2 and not (i<2 and j<3):
|
||||
matrix[i].append(0) #piasek
|
||||
|
||||
@ -20,3 +20,6 @@ class Node:
|
||||
def get_cost(self):
|
||||
return self.cost
|
||||
|
||||
def __lt__(self, other):
|
||||
return self.cost < other.get_cost()
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user