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2 Commits

Author SHA1 Message Date
4416734de8 fixed current node cost 2023-05-05 15:12:48 +02:00
Eikthyrnir
ac2bdbed33 test A* just in case 2023-05-05 13:25:45 +02:00
3 changed files with 177 additions and 4 deletions

View File

@ -0,0 +1,138 @@
import math
import queue
from dataclasses import dataclass, field
from typing import Any
from domain.world import World
class State:
def __init__(self, x, y, direction=(1, 0)):
self.x = x
self.y = y
self.direction = direction
def __hash__(self):
return hash((self.x, self.y))
def __eq__(self, other):
return (self.x == other.x and self.y == other.y
and self.direction == other.direction)
class Node:
def __init__(self, state: State):
self.state = state
self.parent = None
self.action = None
self.g = 0
self.h = 0
@dataclass(order=True)
class PrioritizedItem:
priority: int
item: Any = field(compare=False)
def __iter__(self):
return iter((self.priority, self.item))
def action_sequence(node: Node):
actions = []
while node.parent:
actions.append(node.action)
node = node.parent
print(node.g)
actions.reverse()
return actions
class RotateAndGoAStar:
def __init__(self, world: World, start_state: State, goal_state: State):
self.world = world
self.start_state = start_state
self.goal_state = goal_state
self.fringe = queue.PriorityQueue()
self.enqueued_states = {}
self.explored = set()
self.actions = []
def search(self):
h = abs(self.start_state.x - self.goal_state.x) ** 2 + abs(self.start_state.y - self.goal_state.y) ** 2
self.fringe.put(PrioritizedItem(h, Node(self.start_state)))
while not self.fringe.empty():
priority, elem = self.fringe.get()
self.enqueued_states.pop(elem, 0)
if self.is_goal(elem.state):
self.actions = action_sequence(elem)
return True
self.explored.add(elem.state)
for (action, state) in self.successors(elem.state):
next_node = Node(state)
next_node.action = action
next_node.parent = elem
next_node.g = (elem.g
+ abs(elem.state.x - state.x)
+ abs(elem.state.y - state.y)
+ self.world.get_cost(state.x, state.y)
)
next_node.h = abs(state.x - self.goal_state.x) + abs(state.y - self.goal_state.y)
self.print_fringe()
f = next_node.g + next_node.h
if state not in self.enqueued_states and state not in self.explored:
self.fringe.put(PrioritizedItem(f, next_node))
self.enqueued_states[state] = f
elif self.enqueued_states.get(state, -math.inf) > f:
self.add_existed(next_node, f)
self.enqueued_states.pop(state, 0)
self.enqueued_states[state] = f
return False
def print_fringe(self):
elems = []
while not self.fringe.empty():
e = self.fringe.get()
elems.append(e)
print(str(e.item.state.x) + ":" + str(e.item.state.x))
for e in elems:
self.fringe.put(e)
def add_existed(self, node: Node, f: int):
old = []
while not self.fringe.empty():
e = self.fringe.get()
if e.item.state == node.state:
break
old.append(e)
self.fringe.put(PrioritizedItem(f, node))
for e in old:
self.fringe.put(e)
def successors(self, state: State):
new_successors = [
# rotate right
("RR", State(state.x, state.y, (-state.direction[1], state.direction[0]))),
# rotate left
("RL", State(state.x, state.y, (state.direction[1], -state.direction[0]))),
]
if self.world.accepted_move(state.x + state.direction[0], state.y + state.direction[1]):
new_successors.append(
("GO", State(state.x + state.direction[0], state.y + state.direction[1], state.direction)))
return new_successors
def is_goal(self, state: State) -> bool:
return (
state.x == self.goal_state.x
and state.y == self.goal_state.y
)

View File

@ -3,6 +3,7 @@ from domain.entities.entity import Entity
class World: class World:
def __init__(self, width: int, height: int) -> object: def __init__(self, width: int, height: int) -> object:
self.costs = [[1000 for j in range(height)] for i in range(width)]
self.width = width self.width = width
self.height = height self.height = height
self.dust = [[[] for j in range(height)] for i in range(width)] self.dust = [[[] for j in range(height)] for i in range(width)]
@ -47,3 +48,6 @@ class World:
return False return False
return True return True
def get_cost(self, x, y):
return self.costs[x][y]

39
main.py
View File

@ -12,7 +12,8 @@ from domain.entities.docking_station import Doc_Station
from domain.world import World from domain.world import World
from view.renderer import Renderer from view.renderer import Renderer
# from AI_brain.movement import GoAnyDirectionBFS, State # from AI_brain.movement import GoAnyDirectionBFS, State
from AI_brain.rotate_and_go_bfs import RotateAndGoBFS, State # from AI_brain.rotate_and_go_bfs import RotateAndGoBFS, State
from AI_brain.rotate_and_go_a_star import RotateAndGoAStar, State
config = configparser.ConfigParser() config = configparser.ConfigParser()
@ -50,7 +51,8 @@ class Main:
end_state = State(self.world.doc_station.x, self.world.doc_station.y) end_state = State(self.world.doc_station.x, self.world.doc_station.y)
# path_searcher = GoAnyDirectionBFS(self.world, start_state, end_state) # path_searcher = GoAnyDirectionBFS(self.world, start_state, end_state)
path_searcher = RotateAndGoBFS(self.world, start_state, end_state) # path_searcher = RotateAndGoBFS(self.world, start_state, end_state)
path_searcher = RotateAndGoAStar(self.world, start_state, end_state)
if not path_searcher.search(): if not path_searcher.search():
print("No solution") print("No solution")
exit(0) exit(0)
@ -132,11 +134,11 @@ class Main:
def generate_world(tiles_x: int, tiles_y: int) -> World: def generate_world(tiles_x: int, tiles_y: int) -> World:
world = World(tiles_x, tiles_y) world = World(tiles_x, tiles_y)
for _ in range(10): for _ in range(20):
temp_x = randint(0, tiles_x - 1) temp_x = randint(0, tiles_x - 1)
temp_y = randint(0, tiles_y - 1) temp_y = randint(0, tiles_y - 1)
world.add_entity(Entity(temp_x, temp_y, "PEEL")) world.add_entity(Entity(temp_x, temp_y, "PEEL"))
world.vacuum = Vacuum(1, 1) world.vacuum = Vacuum(0, 0)
world.doc_station = Doc_Station(9, 8) world.doc_station = Doc_Station(9, 8)
if config.getboolean("APP", "cat"): if config.getboolean("APP", "cat"):
world.cat = Cat(7, 8) world.cat = Cat(7, 8)
@ -146,6 +148,35 @@ def generate_world(tiles_x: int, tiles_y: int) -> World:
world.add_entity(Entity(3, 4, "PLANT2")) world.add_entity(Entity(3, 4, "PLANT2"))
world.add_entity(Entity(8, 8, "PLANT2")) world.add_entity(Entity(8, 8, "PLANT2"))
world.add_entity(Entity(9, 3, "PLANT3")) world.add_entity(Entity(9, 3, "PLANT3"))
# TEST
# world.costs[9][3] = 1000
# world.costs[8][3] = 1000
# world.costs[7][3] = 1000
# world.costs[6][3] = 1000
# world.costs[5][3] = 1000
# world.costs[4][3] = 1000
# world.costs[3][3] = 1000
# world.costs[2][3] = 1000
# # world.costs[1][3] = 1000
# world.costs[0][3] = 1000
#
# world.costs[2][4] = 1000
# world.costs[1][5] = 1000
# world.costs[5][4] = 1000
# # world.costs[5][5] = 1000
# world.costs[5][6] = 1000
# world.costs[5][7] = 1000
# world.costs[5][8] = 1000
# world.costs[5][9] = 1000
for x in range(world.width):
for y in range(world.height):
if world.is_garbage_at(x, y):
world.costs[x][y] = 1;
# world.costs[0][0] = -1000
return world return world