diff --git a/Search-based Planning/.idea/workspace.xml b/Search-based Planning/.idea/workspace.xml
index b0e4f17..3e86ea3 100644
--- a/Search-based Planning/.idea/workspace.xml
+++ b/Search-based Planning/.idea/workspace.xml
@@ -19,10 +19,9 @@
-
+
-
@@ -216,6 +215,14 @@
1592347358698
+
+ 1593715021929
+
+
+
+ 1593715021929
+
+
@@ -230,6 +237,10 @@
+
+
+
+
@@ -240,29 +251,29 @@
-
+
-
-
+
+
-
-
+
+
-
-
+
+
-
+
-
+
-
+
\ No newline at end of file
diff --git a/Search-based Planning/Search_2D/astar.py b/Search-based Planning/Search_2D/astar.py
index 792e58a..a773fd7 100644
--- a/Search-based Planning/Search_2D/astar.py
+++ b/Search-based Planning/Search_2D/astar.py
@@ -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*")