java - 坚持执行维基百科的 A* ("A star") 算法

Question

我正在维基百科的这篇文章中实现 A* 搜索算法:

function A*(start,goal)
     closedset := the empty set    // The set of nodes already evaluated.
     openset := set containing the initial node    // The set of tentative nodes to be evaluated.
     came_from := the empty map    // The map of navigated nodes.

     g_score[start] := 0    // Cost from start along best known path.
     h_score[start] := heuristic_cost_estimate(start, goal)
     f_score[start] := h_score[start]    // Estimated total cost from start to goal through y.

     while openset is not empty
         x := the node in openset having the lowest f_score[] value
         if x = goal
             return reconstruct_path(came_from, came_from[goal])

         remove x from openset
         add x to closedset
         foreach y in neighbor_nodes(x)
             if y in closedset
                 continue
             tentative_g_score := g_score[x] + dist_between(x,y)

             if y not in openset
                 add y to openset
                 tentative_is_better := true
             else if tentative_g_score < g_score[y]
                 tentative_is_better := true
             else
                 tentative_is_better := false

             if tentative_is_better = true
                 came_from[y] := x
                 g_score[y] := tentative_g_score
                 h_score[y] := heuristic_cost_estimate(y, goal)
                 f_score[y] := g_score[y] + h_score[y]

     return failure


 function reconstruct_path(came_from, current_node)
     if came_from[current_node] is set
         p = reconstruct_path(came_from, came_from[current_node])
         return (p + current_node)
     else
         return current_node

我卡在要求检索 openSet 中具有最低 f 值的节点的那一行。什么时候填充了 openSet？什么？它应该在第一次运行时就开始吗？

我也不理解重构路径的伪造:

 ArrayList<Point> reconstructPath(Point cameFrom, Point current_node){

        //if came_from[current_node] is set //what does it mean "ïs set"?
        //???
        return null;

    }

应该如何实现伪指令？

 boolean AStar (Point start, Point goal){

        HashSet <Point>closedSet = new HashSet<Point>();
        HashSet <Point>openSet = new HashSet<Point>();
        HashMap <Point,Point> came_from = new HashMap<Point, Point>();

        HashMap <Point, Integer> g_score = new HashMap<Point, Integer>();
        HashMap <Point, Integer> h_score =new HashMap<Point,Integer>();
        HashMap <Point,Integer> f_score =new HashMap<Point,Integer>();

        g_score.put(start, 0);
        h_score.put(start, heuristic_cost_estimate(start,goal));
        f_score.put(start, heuristic_cost_estimate(start,goal));


        openSet.add(start);
        while(!openSet.isEmpty()){

            // x := the node in openset having the lowest f_score[] value
            //????
        }

        return false;

    }

 Integer heuristic_cost_estimate(Point start, Point goal){

        double minusI = (start.I-goal.I);
        int minusIi =(int)Math.pow(minusI,2.0D);

        double minusJ = (start.J-goal.J);
        int minusIj =(int)Math.pow(minusJ,2.0D);

        int ri = minusIj + minusIi;

        Integer result = new Integer(ri); 

        return result;


    }



ArrayList<Point> reconstructPath(Point cameFrom, Point current_node){

        //if came_from[current_node] is set //what does it mean "ïs set"?
        //???
        return null;

    }

Answer 1

开放集最初包含您开始搜索的节点 - 起始节点。

openset := set containing the initial node    // The set of tentative nodes to be evaluated.

至于重建路径部分——每次你处理一个节点并找到它的邻居X可以从当前节点以较低的成本到达，您应该设置 came_from输入 X到您当前正在处理的节点。找到目标节点后，您可以按照 came_from 重建路径。从目标节点开始的条目，直到到达源节点。您可以通过修改 Point 来实现这一点类有一个名为 came_from 的附加字段.

从哈希表中提取具有最低值的节点的唯一方法是遍历哈希表。另一种方法是另外有一个 TreeMap ，它可以让您快速找到具有最小值的元素(或者有一个专门的堆，例如二叉堆或斐波那契堆，它还可以让您减少堆内元素的值)。

This是我最初学习 A* 的地方。