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zhm-real
2020-07-02 11:45:25 -07:00
parent 26c80924ee
commit 997e8f8b27
2 changed files with 41 additions and 16 deletions
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Search-based Planning/.idea/workspace.xml
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+23 -12
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@@ -19,10 +19,9 @@
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@@ -216,6 +215,14 @@
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<created>1593715021929</created>
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@@ -230,6 +237,10 @@
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<option name="LAST_COMMIT_MESSAGE" value="Merge branch 'master' of https://github.com/zhm-real/path-planning-algorithms&#10;&#10;# Please enter a commit message to explain why this merge is necessary,&#10;# especially if it merges an updated upstream into a topic branch.&#10;#&#10;# Lines starting with '#' will be ignored, and an empty message aborts&#10;# the commit." />
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Search-based Planning/Search_2D/astar.py
+18 -4
View File
@@ -56,18 +56,32 @@ class Astar:
return self.extract_path(self.PARENT), self.CLOSED
def repeated_searching(self, e):
def repeated_astar(self, e):
"""
repeated a*.
:param e: weight of a*
:return: path and visited order
"""
path, visited = [], []
while e >= 1:
p_k, v_k = self.repeated_Astar(self.s_start, self.s_goal, e)
p_k, v_k = self.repeated_searching(self.s_start, self.s_goal, e)
path.append(p_k)
visited.append(v_k)
e -= 0.5
return path, visited
def repeated_Astar(self, s_start, s_goal, e):
def repeated_searching(self, s_start, s_goal, e):
"""
run a* with weight e.
:param s_start: starting state
:param s_goal: goal state
:param e: weight of a*
:return: path and visited order.
"""
g = {s_start: 0, s_goal: float("inf")}
OPEN = queue.QueuePrior()
OPEN.put(s_start, g[s_start] + e * self.Heuristic(s_start))
@@ -174,7 +188,7 @@ def main():
path, visited = astar.searching()
plot.animation(path, visited, "A*") # animation
# path, visited = astar.repeated_searching(2.5) # initial weight e = 2.5
# path, visited = astar.repeated_astar(2.5) # initial weight e = 2.5
# plot.animation_ara_star(path, visited, "Repeated A*")