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Last active June 7, 2020 06:40
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A* pathfinding algorithm. Please see comments below for a fork of this gist that includes bug fixes!
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astar.py
class Node():
"""A node class for A* Pathfinding"""
def __init__(self, parent=None, position=None):
self.parent = parent
self.position = position
self.g = 0
self.h = 0
self.f = 0
def __eq__(self, other):
return self.position == other.position
def astar(maze, start, end):
"""Returns a list of tuples as a path from the given start to the given end in the given maze"""
# Create start and end node
start_node = Node(None, start)
start_node.g = start_node.h = start_node.f = 0
end_node = Node(None, end)
end_node.g = end_node.h = end_node.f = 0
# Initialize both open and closed list
open_list = []
closed_list = []
# Add the start node
open_list.append(start_node)
# Loop until you find the end
while len(open_list) > 0:
# Get the current node
current_node = open_list[0]
current_index = 0
for index, item in enumerate(open_list):
if item.f < current_node.f:
current_node = item
current_index = index
# Pop current off open list, add to closed list
open_list.pop(current_index)
closed_list.append(current_node)
# Found the goal
if current_node == end_node:
path = []
current = current_node
while current is not None:
path.append(current.position)
current = current.parent
return path[::-1] # Return reversed path
# Generate children
children = []
for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]: # Adjacent squares
# Get node position
node_position = (current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])
# Make sure within range
if node_position[0] > (len(maze) - 1) or node_position[0] < 0 or node_position[1] > (len(maze[len(maze)-1]) -1) or node_position[1] < 0:
continue
# Make sure walkable terrain
if maze[node_position[0]][node_position[1]] != 0:
continue
# Create new node
new_node = Node(current_node, node_position)
# Append
children.append(new_node)
# Loop through children
for child in children:
# Child is on the closed list
for closed_child in closed_list:
if child == closed_child:
continue
# Create the f, g, and h values
child.g = current_node.g + 1
child.h = ((child.position[0] - end_node.position[0]) ** 2) + ((child.position[1] - end_node.position[1]) ** 2)
child.f = child.g + child.h
# Child is already in the open list
for open_node in open_list:
if child == open_node and child.g > open_node.g:
continue
# Add the child to the open list
open_list.append(child)
def main():
maze = [[1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,1],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,1],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1]]
map2 = [[1,1,1,1,1,1,1,1,1,308,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],
[37,1,41,1,45,1,49,1,53,1,57,1,61,1,65,1,69,1,73,1,77,1,81,1,85,1,89,1,93,1,97,1,101,1,105,1,109,1,113,1,117,1,121,1,125,1,128,1,131,1,133,1,135,1,137,1],
[0,264,0,265,0,266,0,267,0,268,0,269,0,270,0,271,0,272,0,273,0,274,0,275,0,276,0,277,0,278,0,279,0,280,0,281,0,282,0,283,0,284,0,285,0,286,0,287,0,288,0,289,0,290,0,291],
[36,1,40,1,44,1,48,1,52,1,56,1,60,1,64,1,68,1,72,1,76,1,80,1,84,1,88,1,92,1,96,1,100,1,104,1,108,1,112,1,116,1,120,1,124,1,127,1,130,1,132,1,134,1,136,1],
[36,1,40,1,44,1,48,1,52,1,56,1,60,1,64,1,68,294,0,295,76,1,80,1,84,1,88,1,92,1,96,1,100,1,104,1,108,1,112,1,116,306,0,307,124,1,127,1,130,1,132,1,134,1,136,1],
[36,1,40,1,44,1,48,1,52,1,56,1,60,1,64,1,68,1,1,1,76,1,80,1,84,1,88,1,92,1,96,1,100,1,104,1,108,1,112,1,116,1,1,1,124,1,127,1,130,1,132,1,134,1,136,1],
[0,171,0,172,0,173,0,174,0,175,0,176,0,177,0,178,0,179,179,179,0,180,0,181,0,182,0,183,0,184,0,185,0,186,0,187,0,188,0,189,0,190,190,190,0,191,0,192,0,193,0,194,1,1,1,1],
[35,1,39,1,43,1,47,1,51,1,55,1,59,1,63,1,67,1,1,1,75,1,79,1,83,1,87,1,91,1,95,1,99,1,103,1,107,1,111,1,115,1,1,1,123,1,126,1,129,1,1,1,1,1,1,1],
[35,1,39,1,43,1,47,1,51,1,55,1,59,1,63,1,67,292,0,293,75,1,79,1,83,1,87,1,91,1,95,1,99,1,103,1,107,1,111,1,115,304,1,305,123,1,126,1,129,1,1,1,1,1,1,1],
[35,1,39,1,43,1,47,1,51,1,55,1,59,1,63,1,67,1,71,1,75,1,79,1,83,1,87,1,91,1,95,1,99,1,103,1,107,1,111,1,115,1,119,1,123,1,126,1,129,1,1,1,1,1,1,1],
[0,203,0,204,0,205,0,206,0,207,0,208,0,209,0,210,0,211,0,212,0,213,0,214,0,215,0,216,0,217,0,218,0,219,0,220,0,221,0,222,0,223,0,224,0,225,0,1,0,1,0,1,0,1,0,1],
[34,1,38,1,42,1,46,1,50,1,54,1,58,1,62,1,66,1,70,1,74,1,78,1,82,1,86,1,90,1,94,1,98,1,102,1,106,1,110,1,114,1,118,1,1,1,1,1,1,1,1,1,1,1,1,1],
[0,234,0,235,0,236,0,237,0,238,0,239,0,240,0,241,0,242,0,243,0,244,0,245,0,246,0,247,0,248,0,249,0,250,0,251,0,252,0,253,0,254,0,1,1,1,1,1,1,1,1,1,1,1,1,1]]
map3 = maze
start = (1, 0)
end = (10, 49)
path = astar(maze, start, end)
for x,y in path:
map3[x][y]= maze[x][y]
print(map3)
if __name__ == '__main__':
main()
Raw
astar2.py
class Node():
"""A node class for A* Pathfinding"""
def __init__(self, parent=None, position=None):
self.parent = parent
self.position = position
self.g = 0
self.h = 0
self.f = 0
def __eq__(self, other):
return self.position == other.position
def astar(maze, start, end):
"""Returns a list of tuples as a path from the given start to the given end in the given maze"""
# Create start and end node
start_node = Node(None, start)
start_node.g = start_node.h = start_node.f = 0
end_node = Node(None, end)
end_node.g = end_node.h = end_node.f = 0
# Initialize both open and closed list
open_list = []
closed_list = []
# Add the start node
open_list.append(start_node)
# Loop until you find the end
while len(open_list) > 0:
# Get the current node
current_node = open_list[0]
current_index = 0
for index, item in enumerate(open_list):
if item.f < current_node.f:
current_node = item
current_index = index
# Pop current off open list, add to closed list
open_list.pop(current_index)
closed_list.append(current_node)
# Found the goal
if current_node == end_node:
path = []
current = current_node
while current is not None:
path.append(current.position)
current = current.parent
return path[::-1] # Return reversed path
# Generate children
children = []
for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]: # Adjacent squares
# Get node position
node_position = (current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])
# Make sure within range
if node_position[0] > (len(maze) - 1) or node_position[0] < 0 or node_position[1] > (len(maze[len(maze)-1]) -1) or node_position[1] < 0:
continue
# Make sure walkable terrain
if maze[node_position[0]][node_position[1]] != 0:
continue
# Create new node
new_node = Node(current_node, node_position)
# Append
children.append(new_node)
# Loop through children
for child in children:
# Child is on the closed list
for closed_child in closed_list:
if child == closed_child:
continue
# Create the f, g, and h values
child.g = current_node.g + 1
child.h = ((child.position[0] - end_node.position[0]) ** 2) + ((child.position[1] - end_node.position[1]) ** 2)
child.f = child.g + child.h
# Child is already in the open list
for open_node in open_list:
if child == open_node and child.g > open_node.g:
continue
# Add the child to the open list
open_list.append(child)
def names(path, map):
# The xlsx archive containing the security info is imported
import xlrd
loc = ("SLP.xlsx")
# The workbook is open
wb = xlrd.open_workbook(loc)
sheet = wb.sheet_by_index(0)
# For each of the nodes in the route, the name of the square is printed
for x,y in path:
# If the node value is 0, the value is ommited
if map[x][y] == 0:
continue
# The name is recovered from the xlsx archive
print(sheet.cell_value(map[x][y], 1))
def security(path, map):
# The xlsx archive containing the security info is imported
import xlrd
loc = ("SLP.xlsx")
# The workbook is open
wb = xlrd.open_workbook(loc)
sheet = wb.sheet_by_index(0)
# For each of the nodes in the route, we sum the security score to the total score
total = 0
nodes = 0
for x,y in path:
# If the node value is 0, the value is ommited
if map[x][y] == 0:
continue
# The security paramether is recovered from the xlsx archive
total += sheet.cell_value(map[x][y], 5)
# A node has been counted
nodes += 1
# We get the mean for all the nodes considered
total /= nodes
# The path's security score is returned
return(total)
def main():
maze = [[1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,1],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,1],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1],
[0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1]]
map2 = [[1,1,1,1,1,1,1,1,1,308,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],
[37,1,41,1,45,1,49,1,53,1,57,1,61,1,65,1,69,1,73,1,77,1,81,1,85,1,89,1,93,1,97,1,101,1,105,1,109,1,113,1,117,1,121,1,125,1,128,1,131,1,133,1,135,1,137,1],
[0,264,0,265,0,266,0,267,0,268,0,269,0,270,0,271,0,272,0,273,0,274,0,275,0,276,0,277,0,278,0,279,0,280,0,281,0,282,0,283,0,284,0,285,0,286,0,287,0,288,0,289,0,290,0,291],
[36,1,40,1,44,1,48,1,52,1,56,1,60,1,64,1,68,1,72,1,76,1,80,1,84,1,88,1,92,1,96,1,100,1,104,1,108,1,112,1,116,1,120,1,124,1,127,1,130,1,132,1,134,1,136,1],
[36,1,40,1,44,1,48,1,52,1,56,1,60,1,64,1,68,294,0,295,76,1,80,1,84,1,88,1,92,1,96,1,100,1,104,1,108,1,112,1,116,306,0,307,124,1,127,1,130,1,132,1,134,1,136,1],
[36,1,40,1,44,1,48,1,52,1,56,1,60,1,64,1,68,1,1,1,76,1,80,1,84,1,88,1,92,1,96,1,100,1,104,1,108,1,112,1,116,1,1,1,124,1,127,1,130,1,132,1,134,1,136,1],
[0,171,0,172,0,173,0,174,0,175,0,176,0,177,0,178,0,179,179,179,0,180,0,181,0,182,0,183,0,184,0,185,0,186,0,187,0,188,0,189,0,190,190,190,0,191,0,192,0,193,0,194,1,1,1,1],
[35,1,39,1,43,1,47,1,51,1,55,1,59,1,63,1,67,1,1,1,75,1,79,1,83,1,87,1,91,1,95,1,99,1,103,1,107,1,111,1,115,1,1,1,123,1,126,1,129,1,1,1,1,1,1,1],
[35,1,39,1,43,1,47,1,51,1,55,1,59,1,63,1,67,292,0,293,75,1,79,1,83,1,87,1,91,1,95,1,99,1,103,1,107,1,111,1,115,304,1,305,123,1,126,1,129,1,1,1,1,1,1,1],
[35,1,39,1,43,1,47,1,51,1,55,1,59,1,63,1,67,1,71,1,75,1,79,1,83,1,87,1,91,1,95,1,99,1,103,1,107,1,111,1,115,1,119,1,123,1,126,1,129,1,1,1,1,1,1,1],
[0,203,0,204,0,205,0,206,0,207,0,208,0,209,0,210,0,211,0,212,0,213,0,214,0,215,0,216,0,217,0,218,0,219,0,220,0,221,0,222,0,223,0,224,0,225,0,1,0,1,0,1,0,1,0,1],
[34,1,38,1,42,1,46,1,50,1,54,1,58,1,62,1,66,1,70,1,74,1,78,1,82,1,86,1,90,1,94,1,98,1,102,1,106,1,110,1,114,1,118,1,1,1,1,1,1,1,1,1,1,1,1,1],
[0,234,0,235,0,236,0,237,0,238,0,239,0,240,0,241,0,242,0,243,0,244,0,245,0,246,0,247,0,248,0,249,0,250,0,251,0,252,0,253,0,254,0,1,1,1,1,1,1,1,1,1,1,1,1,1]]
map3 = maze
start = (1, 0)
end = (10, 45)
path = astar(maze, start, end)
for x,y in path:
map3[x][y]= map2[x][y]
print("Ruta")
print('\n'.join([''.join(['{:4}'.format(item) for item in row])
for row in map3]))
print("Nodos visitados")
names(path, map2)
print("Puntuacion de Seguridad")
print(security(path, map2))
if __name__ == '__main__':
main()
Raw
ProjectSettings.json
{
"CurrentProjectSetting": null
}
Raw
settings.json
{
"python.pythonPath": "D:\\Users\\ximec\\AppData\\Local\\Programs\\python.exe"
}
Raw
VSWorkspaceState.json
{
"ExpandedNodes": [
""
],
"PreviewInSolutionExplorer": false
}
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