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a star, robot uwzglednia koszt

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This commit is contained in:
Yurii 2022-04-28 09:32:14 +02:00
parent 5af2f22a64
commit 4d91d86aef
4 changed files with 129 additions and 151 deletions
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10
classes/ai.py
View File

@ -89,11 +89,17 @@ class AI:
def bfs(self): def bfs(self):
dists = [] # how long way is to all mines from start([0, 0]) dists = [] # how long way is to all mines from start([0, 0])
for mine in self.current_map.mines: for mine in self.current_map.mines:
dists.append(sqrt((self.saper.position_x-mine.position_x)**2 + (self.saper.position_y-mine.position_y)**2)) # dists.append(sqrt((self.saper.position_x-mine.position_x)**2 + (self.saper.position_y-mine.position_y)**2))
dists.append(abs(self.saper.position_x - mine.position_x) + abs(self.saper.position_y - mine.position_y))
print(dists) print(dists)
ind = dists.index(min(dists)) # choose nearest mine ind = dists.index(min(dists)) # choose nearest mine
goal_state = [self.current_map.mines[ind].position_x, self.current_map.mines[ind].position_y] goal_state = [self.current_map.mines[ind].position_x, self.current_map.mines[ind].position_y]
print(f'We go to {goal_state}') print(f'We go to {goal_state}')
find_path = bfs.BFS(self.saper, self.window) find_path = bfs.BFS(self.saper, self.window)
self.the_way = find_path.graphsearch([], [], bfs.BFS.successor, goal_state) tmp = find_path.graphsearch([], [], bfs.BFS.successor, goal_state)
print(f'tmp = {tmp}')
if tmp is None:
raise Exception("Error, path does not exist")
else:
self.the_way = tmp

263
classes/bfs.py
View File

@ -1,6 +1,5 @@
import heapq # dla utrzymania fringe import heapq # dla utrzymania fringe
from classes import node, minesweeper, system from classes import node, minesweeper, system
import time
class BFS: class BFS:
@ -15,180 +14,122 @@ class BFS:
def successor(self, current_position): def successor(self, current_position):
new_nodes = [] new_nodes = []
neighbours_list = self.agent.sensor(current_position[0], current_position[1]) neighbours_list = self.agent.sensor(current_position[0], current_position[1])
#print(f'Current position {current_position}')
#print(neighbours_list[0])
#print(neighbours_list[1])
#print(neighbours_list[2])
#print(neighbours_list)
# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# new_nodes.append([current_position[0] - 1, current_position[1]])
# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# new_nodes.append([current_position[0], current_position[1] + 1])
# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# new_nodes.append([current_position[0] + 1, current_position[1]])
# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# new_nodes.append([current_position[0],current_position[1] - 1])
# if current_position[2] == 0: # jesli patrzy na polnoc
# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('forward', [current_position[0] - 1, current_position[1], 0])
# new_nodes.append(tmp)
# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('left', [current_position[0],current_position[1], 270])
# new_nodes.append(tmp)
# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('right', [current_position[0], current_position[1], 90])
# new_nodes.append(tmp)
#
# if current_position[2] == 90: # jesli patrzy na wschod
# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('forward', [current_position[0], current_position[1] + 1, 90])
# new_nodes.append(tmp)
# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('left', [current_position[0], current_position[1], 0])
# new_nodes.append(tmp)
# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('right', [current_position[0], current_position[1], 180])
# new_nodes.append(tmp)
#
# if current_position[2] == 180: # jesli patczy na poludzie
# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('forward', [current_position[0] + 1, current_position[1], 180])
# new_nodes.append(tmp)
# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('left', [current_position[0], current_position[1], 90])
# new_nodes.append(tmp)
# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('right', [current_position[0],current_position[1], 270])
# new_nodes.append(tmp)
#
# if current_position[2] == 270: # jesli patczy na wschod
# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('forward', [current_position[0],current_position[1] - 1, 270])
# new_nodes.append(tmp)
# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('left', [current_position[0], current_position[1], 180])
# new_nodes.append(tmp)
# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('right', [current_position[0], current_position[1], 0])
# new_nodes.append(tmp)
if current_position[2] == 180: # jesli patrzy na polnoc if current_position[2] == 180: # jesli patrzy na polnoc
if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[0][1] == 'grass': if neighbours_list[0][1] == 'grass':
cost = 5 cost = 10
elif neighbours_list[0][1] == 'sand': elif neighbours_list[0][1] == 'sand':
cost = 1 cost = 2
elif neighbours_list[0][1] == 'mine': elif neighbours_list[0][1] == 'mine':
cost = 0 cost = 0
tmp = ('forward', [current_position[0], current_position[1] - 1, 180], cost) tmp = ('forward', [current_position[0], current_position[1] - 1, 180], cost)
new_nodes.append(tmp) new_nodes.append(tmp)
if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[1][0] == 'grass': # if neighbours_list[1][0] == 'grass':
cost = 5 # cost = 10
elif neighbours_list[1][0] == 'sand': # elif neighbours_list[1][0] == 'sand':
cost = 1 # cost = 2
elif neighbours_list[1][0] == 'mine': # elif neighbours_list[1][0] == 'mine':
cost = 0 # cost = 0
tmp = ('left', [current_position[0],current_position[1], 270], cost) tmp = ('left', [current_position[0],current_position[1], 270], 1)
new_nodes.append(tmp) new_nodes.append(tmp)
if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[1][2] == 'grass': # if neighbours_list[1][2] == 'grass':
cost = 5 # cost = 10
elif neighbours_list[1][2] == 'sand': # elif neighbours_list[1][2] == 'sand':
cost = 1 # cost = 2
elif neighbours_list[1][2] == 'mine': # elif neighbours_list[1][2] == 'mine':
cost = 0 # cost = 0
tmp = ('right', [current_position[0], current_position[1], 90], cost) tmp = ('right', [current_position[0], current_position[1], 90], 1)
new_nodes.append(tmp) new_nodes.append(tmp)
if current_position[2] == 90: # jesli patrzy na wschod if current_position[2] == 90: # jesli patrzy na wschod
if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[1][2] == 'grass': if neighbours_list[1][2] == 'grass':
cost = 5 cost = 10
elif neighbours_list[1][2] == 'sand': elif neighbours_list[1][2] == 'sand':
cost = 1 cost = 2
elif neighbours_list[1][2] == 'mine': elif neighbours_list[1][2] == 'mine':
cost = 0 cost = 0
tmp = ('forward', [current_position[0] + 1, current_position[1], 90], cost) tmp = ('forward', [current_position[0] + 1, current_position[1], 90], cost)
new_nodes.append(tmp) new_nodes.append(tmp)
if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[0][1] == 'grass': # if neighbours_list[0][1] == 'grass':
cost = 5 # cost = 10
elif neighbours_list[0][1] == 'sand': # elif neighbours_list[0][1] == 'sand':
cost = 1 # cost = 2
elif neighbours_list[0][1] == 'mine': # elif neighbours_list[0][1] == 'mine':
cost = 0 # cost = 0
tmp = ('left', [current_position[0], current_position[1], 180], cost) tmp = ('left', [current_position[0], current_position[1], 180], 1)
new_nodes.append(tmp) new_nodes.append(tmp)
if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[2][1] == 'grass': # if neighbours_list[2][1] == 'grass':
cost = 5 # cost = 10
elif neighbours_list[2][1] == 'sand': # elif neighbours_list[2][1] == 'sand':
cost = 1 # cost = 2
elif neighbours_list[2][1] == 'mine': # elif neighbours_list[2][1] == 'mine':
cost = 0 # cost = 0
tmp = ('right', [current_position[0], current_position[1], 0], cost) tmp = ('right', [current_position[0], current_position[1], 0], 1)
new_nodes.append(tmp) new_nodes.append(tmp)
if current_position[2] == 0: # jesli patczy na poludzie if current_position[2] == 0: # jesli patczy na poludzie
if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[2][1] == 'grass': if neighbours_list[2][1] == 'grass':
cost = 5 cost = 10
elif neighbours_list[2][1] == 'sand': elif neighbours_list[2][1] == 'sand':
cost = 1 cost = 2
elif neighbours_list[2][1] == 'mine': elif neighbours_list[2][1] == 'mine':
cost = 0 cost = 0
tmp = ('forward', [current_position[0], current_position[1] + 1, 0], cost) tmp = ('forward', [current_position[0], current_position[1] + 1, 0], cost)
new_nodes.append(tmp) new_nodes.append(tmp)
if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[1][2] == 'grass': # if neighbours_list[1][2] == 'grass':
cost = 5 # cost = 10
elif neighbours_list[1][2] == 'sand': # elif neighbours_list[1][2] == 'sand':
cost = 1 # cost = 2
elif neighbours_list[1][2] == 'mine': # elif neighbours_list[1][2] == 'mine':
cost = 0 # cost = 0
tmp = ('left', [current_position[0], current_position[1], 90], cost) tmp = ('left', [current_position[0], current_position[1], 90], 1)
new_nodes.append(tmp) new_nodes.append(tmp)
if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[1][0] == 'grass': # if neighbours_list[1][0] == 'grass':
cost = 5 # cost = 10
elif neighbours_list[1][0] == 'sand': # elif neighbours_list[1][0] == 'sand':
cost = 1 # cost = 2
elif neighbours_list[1][0] == 'mine': # elif neighbours_list[1][0] == 'mine':
cost = 0 # cost = 0
tmp = ('right', [current_position[0],current_position[1], 270], cost) tmp = ('right', [current_position[0],current_position[1], 270], 1)
new_nodes.append(tmp) new_nodes.append(tmp)
if current_position[2] == 270: # jesli patczy na wschod if current_position[2] == 270: # jesli patczy na wschod
if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[1][0] == 'grass': if neighbours_list[1][0] == 'grass':
cost = 5 cost = 10
elif neighbours_list[1][0] == 'sand': elif neighbours_list[1][0] == 'sand':
cost = 1 cost = 2
elif neighbours_list[1][0] == 'mine': elif neighbours_list[1][0] == 'mine':
cost = 0 cost = 0
tmp = ('forward', [current_position[0] - 1,current_position[1], 270], cost) tmp = ('forward', [current_position[0] - 1,current_position[1], 270], cost)
new_nodes.append(tmp) new_nodes.append(tmp)
if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[2][1] == 'grass': # if neighbours_list[2][1] == 'grass':
cost = 5 # cost = 10
elif neighbours_list[2][1] == 'sand': # elif neighbours_list[2][1] == 'sand':
cost = 1 # cost = 2
elif neighbours_list[2][1] == 'mine': # elif neighbours_list[2][1] == 'mine':
cost = 0 # cost = 0
tmp = ('left', [current_position[0], current_position[1], 0], cost) tmp = ('left', [current_position[0], current_position[1], 0], 1)
new_nodes.append(tmp) new_nodes.append(tmp)
if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
if neighbours_list[0][1] == 'grass': # if neighbours_list[0][1] == 'grass':
cost = 5 # cost = 10
elif neighbours_list[0][1] == 'sand': # elif neighbours_list[0][1] == 'sand':
cost = 1 # cost = 2
elif neighbours_list[0][1] == 'mine': # elif neighbours_list[0][1] == 'mine':
cost = 0 # cost = 0
tmp = ('right', [current_position[0], current_position[1], 180], cost) tmp = ('right', [current_position[0], current_position[1], 180], 1)
new_nodes.append(tmp) new_nodes.append(tmp)
return new_nodes return new_nodes
@ -208,29 +149,25 @@ class BFS:
self.window.pause(True) self.window.pause(True)
positiont_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees] # x, y, gdzie_patczy position_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees] # x, y, gdzie_patczy
print(f'Position {positiont_at_beginning}')
final_action_list = [] # lista co ma robic zeby dojechac do miny final_action_list = [] # lista co ma robic zeby dojechac do miny
root = node.Node(None, None, positiont_at_beginning, 0) # parent, action, position root = node.Node(None, None, position_at_beginning, 0) # parent, action, position, cost
counter = 0
heapq.heappush(fringe, (counter, root)) heapq.heappush(fringe, (0, root)) # add first node to fringe
#visited_position = []
while len(fringe) != 0: while len(fringe) != 0: # poki sa wezly do odwiedzenia(na fringe)
flag = True
if len(fringe) == 0: if len(fringe) == 0:
return False return False
tmp_node = heapq.heappop(fringe) # node # get node from fringe
tmp_node = heapq.heappop(fringe) # tuple(priority, node)
tmp_node_position = tmp_node[1].get_position() # x, y , gdzie patczy tmp_node_position = tmp_node[1].get_position() # x, y , gdzie patczy
#print(f'Position before succ {tmp_node_position}')
#visited_position.append(tmp_node_position)
explored.append(tmp_node_position)
# jesli tmp node to goaltest
if tmp_node_position[:2] == goaltest: if tmp_node_position[:2] == goaltest:
print('Find') print('Find')
@ -238,28 +175,60 @@ class BFS:
final_action_list.append(tmp_node[1].get_action()) final_action_list.append(tmp_node[1].get_action())
tmp_node = tmp_node[1].get_parent() tmp_node = tmp_node[1].get_parent()
final_action_list.reverse() final_action_list.reverse()
print(final_action_list) #print(final_action_list)
self.window.pause(False) self.window.pause(False)
return final_action_list return final_action_list
# nie wiem na razie po co to explored.append(tmp_node[1]) # add node to array of visited nodes
# chyba visited_position lepszy odpowiednik
# explored.append(tmp_node)
neighbours_list_of_our_node = self.successor(tmp_node_position) # lista możliwych akcij neighbours_list_of_our_node = self.successor(tmp_node_position) # lista możliwych akcij
#print(neighbours_list_of_our_node)
for node_ in neighbours_list_of_our_node: for node_ in neighbours_list_of_our_node:
# jesli pozucja wezla nie jest w fringe i nie jest w visited
if [node_[1][0], node_[1][1], node_[1][2]] not in explored and node_[1][0] >= 0 and node_[1][1] >=0: notInFringe = True # false if node in fringe
counter += 1 notInExplored = True # false if node in explored
x = node.Node(tmp_node, node_[0], node_[1], node_[2]) # action
heapq.heappush(fringe, (counter, x)) # if node_[1] is None:
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) # continue
p = manhattan(node_[1], goaltest) + node_[2] p = manhattan(node_[1], goaltest) + node_[2]
# print(f'Mancgeten = {p}') # wyznacza jaki jest priorytet nastempnika
# manchaten from node_ + cost of way from tmp_ode to node_
priority_in_fringe = 0
counter = 0
tmp_position_in_fringe = 0 # zero if node not in fringe
for fringeNode in fringe: # isc po wszystkich wezlach ktore juz sa w fringe
# jesli nasz wezel juz jest w fringe
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]:
notInFringe = False
priority_in_fringe = fringeNode[0]
# number of element in fringe
tmp_position_in_fringe = counter
counter = counter + 1
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)

2
classes/minesweeper.py
View File

@ -113,7 +113,7 @@ class Map:
if ok and rng==0 and not (i<2 and j<3): if ok and rng==0 and not (i<2 and j<3):
matrix[i].append(10) #kamień 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 matrix[i].append(5) #trawa
elif ok and rng<2 and not (i<2 and j<3): elif ok and rng<2 and not (i<2 and j<3):
matrix[i].append(0) #piasek matrix[i].append(0) #piasek

3
classes/node.py
View File

@ -20,3 +20,6 @@ class Node:
def get_cost(self): def get_cost(self):
return self.cost return self.cost
def __lt__(self, other):
return self.cost < other.get_cost()