一、簡介

兩點之間尋找最短路徑，要考慮到存在障礙物遮擋和斜線移動的情況。

二、具體說明

說明可以參考下面的鏈接，對A*算法實現的描述。

三、具體實現

1、實現功能

2、尋路具體流程

3、關于F值

f = g + h

g表示當前移動到下一個點的消耗，平移為1，斜移動為 sqrt((x1-x2)**2 +(y1-y2)**2);

h表示當前移動到終點的消耗，不考慮斜移，不考慮障礙物

具體原理請查看下面的參考鏈接。

完整實現：

# -*- coding: utf-8 -*-

import os,sys,random,math

#地圖設置

gameMapWidth = 10

gameMapHeight = 10

gameMap = []

#地圖障礙物

obstacleCount = 5

#塊狀態

ITEM_STAT_NORMAL = 0 #空點

ITEM_STAT_OBSTACLE = 1 #障礙物

ITEM_STAT_START = 2 #起點

ITEM_STAT_END = 3 #終點

#起點和終點

spNum = -1

epNum = -1

#每塊的屬性

class Item:

def __init__(self,x,y,status):

self.x = x

self.y = y

self.status = status

self.mf = -1

self.mg = -1

self.mh = -1

self.mParent = None

self.isPath = 0

#初始化地圖

def initMap():

for wc in xrange(gameMapWidth):

for hc in xrange(gameMapHeight):

gameMap.append(Item(wc,hc,ITEM_STAT_NORMAL))

#插入障礙物

for oc in xrange(obstacleCount):

choose = random.randint(gameMapWidth,gameMapWidth*gameMapHeight - 1)

gameMap[choose].status = ITEM_STAT_OBSTACLE

global spNum

global epNum

#選取起點和終點

while (spNum == -1):

choose = random.randint(0,gameMapWidth*gameMapHeight - 1)

if gameMap[choose].status == 0:

spNum = choose

gameMap[spNum].status = ITEM_STAT_START

while (epNum == -1):

choose = random.randint(0,gameMapWidth*gameMapHeight - 1)

if gameMap[choose].status == 0:

epNum = choose

gameMap[epNum].status = ITEM_STAT_END

#輸出地圖信息

def printMap():

for itemc in xrange(len(gameMap)):

if gameMap[itemc].status == ITEM_STAT_START:

print "START",

elif gameMap[itemc].status == ITEM_STAT_END:

print "END ",

elif gameMap[itemc].isPath == 1:

print "path ",

else:

print "%d " %(gameMap[itemc].status),

if (itemc + 1) % gameMapHeight == 0:

print "\n"

#尋路

def findPath():

global spNum

global epNum

#開啟列表

openPointList = []

#關閉列表

closePointList = []

#開啟列表插入起始點

openPointList.append(gameMap[spNum])

while (len(openPointList) > 0):

#尋找開啟列表中最小預算值的點

minFPoint = findPointWithMinF(openPointList)

#從開啟列表移除,添加到關閉列表

openPointList.remove(minFPoint)

closePointList.append(minFPoint)

#找到當前點周圍點

surroundList = findSurroundPoint(minFPoint,closePointList)

#開始尋路

for sp in surroundList:

#存在在開啟列表，說明上一塊查找時并不是最優路徑，考慮此次移動是否是最優路徑

if sp in openPointList:

newPathG = CalcG(sp, minFPoint) #計算新路徑下的G值

if newPathG < sp.mg:

sp.mg = newPathG

sp.mf = sp.mg + sp.mh

sp.mParent = minFPoint

else:

sp.mParent = minFPoint #當前查找到點指向上一個節點

CalcF(sp, gameMap[epNum])

openPointList.append(sp)

if gameMap[epNum] in openPointList:

gameMap[epNum].mParent = minFPoint

break

curp = gameMap[epNum]

while True:

curp.isPath = 1

curp = curp.mParent

if curp == None:

break

print "\n"

printMap()

def CalcG(point, minp):

return math.sqrt((point.x - point.mParent.x)**2 + (point.y - point.mParent.y)**2) + minp.mg

#計算每個點的F值

def CalcF(point,endp):

h = abs(endp.x - point.x) + abs(endp.y - point.y)

g = 0

if point.mParent == None:

g = 0

else:

g = point.mParent.mg + math.sqrt((point.x - point.mParent.x)**2 + (point.y - point.mParent.y)**2)

point.mg = g

point.mh = h

point.mf = g + h

return

#不能是障礙塊，不包含在關閉列表中

def notObstacleAndClose(point,closePointList):

if point not in closePointList and point.status != ITEM_STAT_OBSTACLE:

return True

return False

#查找周圍塊

def findSurroundPoint(point,closePointList):

surroundList = []

up = None

down = None

left = None

right = None

leftUp = None

rightUp = None

leftDown = None

rightDown = None

#上面的點存在

if point.x > 0:

up = gameMap[gameMapHeight*(point.x - 1) + point.y]

if notObstacleAndClose(up,closePointList):

surroundList.append(up)

#下面的點存在

if point.x < gameMapWidth - 1:

down = gameMap[gameMapHeight*(point.x + 1)+ point.y]

if notObstacleAndClose(down,closePointList):

surroundList.append(down)

#左邊的點存在

if point.y > 0:

left = gameMap[gameMapHeight*(point.x) + point.y - 1]

if notObstacleAndClose(left, closePointList):

surroundList.append(left)

#右邊的點存在

if point.y < gameMapHeight - 1:

right = gameMap[gameMapHeight*(point.x) + point.y + 1]

if notObstacleAndClose(right,closePointList):

surroundList.append(right)

#斜方向的點還需考慮對應正方向不是障礙物

#左上角的點存在

if point.x > 0 and point.y > 0:

leftUp = gameMap[gameMapHeight*(point.x - 1) + point.y - 1]

if notObstacleAndClose(leftUp,closePointList) and left.status != ITEM_STAT_OBSTACLE and up.status != ITEM_STAT_OBSTACLE:

surroundList.append(leftUp)

#右上角的點存在

if point.x > 0 and point.y < gameMapHeight - 1:

rightUp = gameMap[gameMapHeight*(point.x-1) + point.y + 1]

if notObstacleAndClose(rightUp,closePointList) and right.status != ITEM_STAT_OBSTACLE and up.status != ITEM_STAT_OBSTACLE:

surroundList.append(rightUp)

#左下角的點存在

if point.x < gameMapWidth - 1 and point.y > 0:

leftDown = gameMap[gameMapHeight*(point.x+1) + point.y - 1]

if notObstacleAndClose(leftDown,closePointList) and left.status != ITEM_STAT_OBSTACLE and down.status != ITEM_STAT_OBSTACLE:

surroundList.append(leftDown)

#右下角的點存在

if point.x < gameMapWidth - 1 and point.y < gameMapHeight - 1:

rightDown = gameMap[gameMapHeight*(point.x+1) + point.y + 1]

if notObstacleAndClose(rightDown,closePointList) and right.status != ITEM_STAT_OBSTACLE and down.status != ITEM_STAT_OBSTACLE:

surroundList.append(rightDown)

return surroundList

#查找list中最小的f值

def findPointWithMinF(openPointList):

f = 0xffffff

temp = None

for pc in openPointList:

if pc.mf < f:

temp = pc

f = pc.mf

return temp

def main():

initMap() ##初始化地圖

printMap() ##輸出初始化地圖信息

findPath() ##查找最優路徑

#入口

main()

參考：

https://www.gamedev.net/articles/programming/artificial-intelligence/a-pathfinding-for-beginners-r2003/

https://blog.csdn.net/qq_33747722/article/details/78436919

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