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Astar.py
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Astar.py
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# # importing the required module
import matplotlib.pyplot as plt
import numpy as np
def main():
# maze = np.array( [[0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 0, 1, 0, 0, 0],
# [0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 0, 0, 0, 0, 1, 0, 0, 0, 0]] )
# maze = np.array( [[0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 0, 1, 0, 0, 0],
# [0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 0, 0, 0, 0, 1, 0, 0, 0, 0]] )
maze = np.array( [[0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 1, 0, 0, 0, 0, 1, 0, 0, 0],
[0, 1, 0, 0, 0, 0, 1, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 1, 0, 0, 0]] )
# maze = np.array( [[0, 1, 0, 1, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 1, 0, 1, 0, 0, 0, 0],
# [0, 1, 0, 1, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 1, 0, 1, 1, 1, 0, 0, 0, 1],
# [0, 1, 0, 1, 0, 0, 0, 0, 0, 0],
# [0, 1, 0, 1, 0, 1, 0, 0, 0, 0],
# [0, 1, 0, 0, 0, 1, 0, 0, 0, 0],
# [0, 0, 0, 1, 0, 0, 0, 0, 0, 0]] )
start = (0,0)
# end = (0,len(maze[0])-1)
end = (len(maze)-1,len(maze[0])-1)
# end = (9,8)
a = len(maze) + 2
b = len(maze[0]) + 2
maze2 = np.ones((a,b))
for i in range (1,a-1):
for j in range (1,b-1):
maze2[i][j] = maze[i-1][j-1]
fig= plt.figure(figsize=(5.6,5.7))
for i in range (len(maze2)):
for j in range (len(maze2[0])):
a1 = maze2[i][j]
if(a1==0):
# plt.plot(i, j,'rs', fillstyle='none', markersize=27)
plt.plot(j-1, a-i,'rs', fillstyle='none', markersize=27)
else:
# plt.plot(i, j,'bs', fillstyle='full', markersize=25)
plt.plot(j-1, a-i,'bs', fillstyle='full', markersize=25)
# plt.plot(start[0]+1, start[1]+1,'rs', fillstyle='full', markersize=27)
# plt.plot(end[0]+1, end[1]+1,'gs', fillstyle='full', markersize=27)
plt.plot(start[1]+1-1, a-start[0]-1,'rs', fillstyle='full', markersize=27)
plt.plot(end[1]+1-1, a-end[0]-1,'gs', fillstyle='full', markersize=27)
start2 = (start[0]+1, start[1]+1)
end2 = (end[0]+1, end[1]+1)
# res = maze2[::-1]
# maze2 = res
# maze2 = np.transpose(maze2)
# print(maze2)
# print(maze2[end2[0]][end2[1]])
# input()
# DONE flag = "initial";
# DONE Add start to open_list
# DONE current = [0,start2[0],start2[1]]
# DONE counter = 1;
# DONE explored matrix; where obstacles are = -2, rest are -1.
# DONE While(open!= empty)
# DONE if(neighbour_up != obstacle && neighbor_up is not explored yet)
# DONE Calculate f+g // f = current[0]+1// g = abs(end2[0]-n_up[0])+ abs(end2[1]-n_up[1])
# DONE add n_up to open_list
# DONE if(neighbour_left != obstacle && neighbor_left is not explored yet)
# DONE Calculate f+g // f = current[0]+1// g = abs(end2[0]-n_up[0])+ abs(end2[1]-n_up[1])
# DONE add n_left to open_list
# DONE if(neighbour_down != obstacle && neighbor_down is not explored yet)
# DONE Calculate f+g // f = current[0]+1// g = abs(end2[0]-n_up[0])+ abs(end2[1]-n_up[1])
# DONE add n_down to open_list
# DONE if(neighbour_right != obstacle && neighbor_right is not explored yet)
# DONE Calculate f+g // f = current[0]+1// g = abs(end2[0]-n_up[0])+ abs(end2[1]-n_up[1])
# DONE add n_right to open_list
# DONE Add current to closed list
# DONE Remove current from open list
# DONE Update explored[current] = counter;
# DONE sort open list.
# DONE if open_list == empty; set flag = "not found"; break;
# DONE else assign current as first element of open list.
# DONE highlight current node.
# DONE print the current node.
# DONE if current == end; flag = found; break;
# DONE print(flag)
# DONE print(explored_matrix)
flag = "initial"
open_list = [[0,start2[0],start2[1],0]]
closed_list = []
current = open_list[0]
counter = 1
a = len(maze2)
b = len(maze2[0])
explored_matrix = np.ones((a,b)) # Obstacles as -2, Unexplored at -1, Explored at numbers>=0, If it has been added to the open list, then -3.
for i in range (len(explored_matrix)):
for j in range (len(explored_matrix[0])):
q = maze2[i][j]
if(q==1):
explored_matrix[i][j] = -2
else:
explored_matrix[i][j] = -1
# print(maze2)
# print(explored_matrix)
# input()
while(len(open_list)!=0):
x = current[1]
y = current[2]
plt.plot(y-1, a-x,'yo', fillstyle='full', markersize=22)
#Neighbor Up
x = current[1]
y = current[2]+1
if(explored_matrix[x][y]== -1): # Checking if this neighboring node is not obstacle or already explored.
Heuristic = abs(end2[0]-x)+ abs(end2[1]-y) #Manhattan distance
Cost = current[3]+1
g = Cost + Heuristic
# g = Heuristic
open_list.append([g,x,y,Cost])
plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.pause(.1)
explored_matrix[x][y]=-3
#Neighbor Right
x = current[1]+1
y = current[2]
if(explored_matrix[x][y]== -1): # Checking if this neighboring node is not obstacle or already explored.
Heuristic = abs(end2[0]-x)+ abs(end2[1]-y) #Manhattan distance
Cost = current[3]+1
g = Cost + Heuristic
# g = Heuristic
open_list.append([g,x,y,Cost])
plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.pause(.1)
explored_matrix[x][y]=-3
#Neighbor Down
x = current[1]
y = current[2]-1
if(explored_matrix[x][y]== -1): # Checking if this neighboring node is not obstacle or already explored.
Heuristic = abs(end2[0]-x)+ abs(end2[1]-y) #Manhattan distance
Cost = current[3]+1
g = Cost + Heuristic
# g = Heuristic
open_list.append([g,x,y,Cost])
plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.pause(.1)
explored_matrix[x][y]=-3
#Neighbor Left
x = current[1]-1
y = current[2]
if(explored_matrix[x][y]== -1): # Checking if this neighboring node is not obstacle or already explored.
Heuristic = abs(end2[0]-x)+ abs(end2[1]-y) #Manhattan distance
Cost = current[3]+1
g = Cost + Heuristic
# g = Heuristic
open_list.append([g,x,y,Cost])
plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.pause(.1)
explored_matrix[x][y]=-3
# input()
open_list.remove(current)
closed_list.append(current)
x = current[1]
y = current[2]
explored_matrix[x][y]=counter
counter += 1
if ( len(open_list)==0 ):
flag = "Goal not found"
break
else:
open_list.sort()
# plt.pause(0.1)
# plt.plot(x, y,'yo', fillstyle='full', markersize=22)
# plt.plot(y-1, a-x,'yo', fillstyle='full', markersize=22)
# plt.pause(0.01)
# print(x," ",y)
current = open_list[0]
if current[1]==end2[0] and current[2]==end2[1]:
plt.plot(current[2]-1, a-current[1],'yo', fillstyle='full', markersize=22)
flag = "Goal found"
print(explored_matrix)
plt.pause(2)
break
# print(open_list)
# print(closed_list)
# input()
# print(explored_matrix)
# print(current)
# input()
# end of while loop
print(flag)
print(explored_matrix)
# plt.plot(end[1]+1-1, a-end[0]-1,'rs', fillstyle='full', markersize=27)
# plt.pause(2)
# input()
if flag=="Goal found":
path = []
reach_goal = 0
path.append(current)
node = path[-1]
x = node[1]
y = current[2]
plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.pause(.1)
#While checking neighbors, also check goal.
while(reach_goal== 0):
#find nearest neighbor with least calues explored_matrix value that is greater than 0.
# add that neighbot to path.
#if that neighbot == start:
# plot and break;
neighbors = []
#Neighbor Up
# print("Neighbour Up")
x_neighbor = x
y_neighbor = y+1
score = explored_matrix[x_neighbor][y_neighbor]
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
#Neighbor Right
# print("Neighbour Right")
x_neighbor = x+1
y_neighbor = y
score = explored_matrix[x_neighbor][y_neighbor]
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
#Neighbor Down
# print("Neighbour Down")
x_neighbor = x
y_neighbor = y-1
score = explored_matrix[x_neighbor][y_neighbor]
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
#Neighbor Left
# print("Neighbour Left")
x_neighbor = x-1
y_neighbor = y
score = explored_matrix[x_neighbor][y_neighbor]
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
neighbors.sort()
# print(neighbors)
if(len(neighbors)==0):
print("Path not found")
break
prev = node
node = neighbors[0]
x = node[1]
y = node[2]
x_prev = prev[1]
y_prev = prev[2]
# plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.plot([y_prev-1, y -1],[a - x_prev,a-x],'go-',linewidth=2)
plt.pause(.2)
# print("here")
if(node[1]==start2[0] and node[2]==start2[1]):
reach_goal = 1
x = node[1]
y = node[2]
plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.pause(5)
break
# x_next = x
# y_next = y+1 #First check Up.
# next_score = explored_matrix[x_next][y_next]
# if(next_score<0):
# x_next = x+1
# y_next = y
# # naming the axes
# plt.xlabel('x - axis')
# plt.ylabel('y - axis')
# # giving a title to my graph
# plt.title('My first graph!')
# # Setting axes limits
# plt.ylim(-1,11)
# plt.xlim(-1,11)
# # function to show the plot
# # plt.show()
# for i in range (len(maze2)):
# for j in range (len(maze2[0])):
# plt.plot(j, i,'ys', fillstyle='full', markersize=27)
# plt.pause(0.1)
# path = astar(maze, start, end)
# print(path)
if __name__ == '__main__':
main()