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add heuristic; fix cost method

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This commit is contained in:
mikoMaz 2023-05-08 16:23:21 +02:00
parent e6dd642006
commit 2437125100
2 changed files with 40 additions and 15 deletions
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35
astar_search.py
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@ -1,8 +1,9 @@
class Node:
def __init__(self, state, parent='', action=''):
def __init__(self, state, parent='', action='', distance=0):
self.state = state
self.parent = parent
self.action = action
self.distance = distance
class Search:
def __init__(self, cell_size, cell_number):
@ -30,11 +31,27 @@ class Search:
possible = [['left', x, y, 'DOWN'], ['right', x, y, 'UP']]
if x != 0: possible.append(['move', x - self.cell_size, y, 'LEFT'])
return possible
def cost(self, node, stones, goal, flowers):
# cost = node.distance
cost = 0
# cost += 10 if stones[node.state[0], node.state[1]] == 1 else 1
cost += 1000000 if (node.state[0], node.state[1]) in stones else 1
cost += 30 if (node.state[0], node.state[1]) in flowers else 1
if node.parent:
node = node.parent
cost += node.distance # should return only elem.action in prod
return cost
def heuristic(self, node, goal):
return abs(node.state[0] - goal[0]) + abs(node.state[1] - goal[1])
#bandaid to know about stones
def astarsearch(self, istate, goaltest, stones):
def astarsearch(self, istate, goaltest, stones, flowers):
#to be expanded
def cost(x, y):
def cost_old(x, y):
if (x, y) in stones:
return 10
else:
@ -45,7 +62,12 @@ class Search:
y = istate[1]
angle = istate[2]
fringe = [(Node([x, y, angle]), cost(x, y))] # queue (moves/states to check)
# fringe = [(Node([x, y, angle]), cost_old(x, y))] # queue (moves/states to check)
fringe = [(Node([x, y, angle]))] # queue (moves/states to check)
fringe[0].distance = self.cost(fringe[0], stones, goaltest, flowers)
fringe.append((Node([x, y, angle]), self.cost(fringe[0], stones, goaltest, flowers)))
fringe.pop(0)
explored = []
while True:
@ -72,8 +94,11 @@ class Search:
for (action, state_x, state_y, state_angle) in self.succ(elem.state):
x = Node([state_x, state_y, state_angle], elem, action)
x.parent = elem
priority = cost(state_x, state_y)
priority = self.cost(elem, stones, goaltest, flowers) + self.heuristic(elem, goaltest)
elem.distance = priority
# priority = cost_old(x, y) + self.heuristic(elem, goaltest)
fringe_states = [node.state for (node, p) in fringe]
if x.state not in fringe_states and x.state not in explored:

2
main.py
View File

@ -102,7 +102,7 @@ class Game:
angles = {0: 'UP', 90: 'RIGHT', 270: 'LEFT', 180: 'DOWN'}
#bandaid to know about stones
tractor_next_moves = astar_search_object.astarsearch(
[self.tractor.x, self.tractor.y, angles[self.tractor.angle]], [random_x, random_y], self.blocks.stones)
[self.tractor.x, self.tractor.y, angles[self.tractor.angle]], [random_x, random_y], self.blocks.stones, self.flower_body)
else:
self.tractor.move(tractor_next_moves.pop(0)[0], self.cell_size, self.cell_number)
elif event.type == QUIT: