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Updated BFS, DFS, A*, weighter A* and Greedy
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@Sanjeeev-K
Sanjeeev-K committed Mar 8, 2020
1 parent 04ef8a0 commit 2e57cf6
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77 changes: 50 additions & 27 deletions Astar.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,16 +16,27 @@ def main():
# [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, 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]] )
[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],
Expand All @@ -40,9 +51,10 @@ def main():
# [0, 0, 0, 1, 0, 0, 0, 0, 0, 0]] )


# res = maze[::-1]
# maze = res
# maze = np.transpose(maze)
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
Expand All @@ -62,11 +74,6 @@ def main():
else:
# plt.plot(i, j,'bs', fillstyle='full', markersize=25)
plt.plot(j-1, a-i,'bs', fillstyle='full', markersize=25)

start = (0,0)
end = (len(maze)-1,len(maze[0])-1)
# end = (9,8)
# end = (0,len(maze[0])-1)

# 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)
Expand Down Expand Up @@ -139,14 +146,20 @@ def main():
# 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
Expand All @@ -155,7 +168,10 @@ def main():
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]
Expand All @@ -164,7 +180,10 @@ def main():
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
Expand All @@ -173,8 +192,12 @@ def main():
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]
Expand All @@ -187,9 +210,9 @@ def main():
break
else:
open_list.sort()
plt.pause(0.1)
# 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.plot(y-1, a-x,'yo', fillstyle='full', markersize=22)
# plt.pause(0.01)
# print(x," ",y)
current = open_list[0]
Expand Down Expand Up @@ -232,39 +255,39 @@ def main():
# plot and break;
neighbors = []
#Neighbor Up
print("Neighbour Up")
# print("Neighbour Up")
x_neighbor = x
y_neighbor = y+1
score = explored_matrix[x_neighbor][y_neighbor]
print(x_neighbor," ",y_neighbor," ",score)
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
#Neighbor Right
print("Neighbour Right")
# print("Neighbour Right")
x_neighbor = x+1
y_neighbor = y
score = explored_matrix[x_neighbor][y_neighbor]
print(x_neighbor," ",y_neighbor," ",score)
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
#Neighbor Down
print("Neighbour Down")
# print("Neighbour Down")
x_neighbor = x
y_neighbor = y-1
score = explored_matrix[x_neighbor][y_neighbor]
print(x_neighbor," ",y_neighbor," ",score)
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
#Neighbor Left
print("Neighbour Left")
# print("Neighbour Left")
x_neighbor = x-1
y_neighbor = y
score = explored_matrix[x_neighbor][y_neighbor]
print(x_neighbor," ",y_neighbor," ",score)
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
neighbors.sort()
print(neighbors)
# print(neighbors)
if(len(neighbors)==0):
print("Path not found")
break
Expand All @@ -276,8 +299,8 @@ def main():
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(1)
print("here")
plt.pause(.2)
# print("here")
if(node[1]==start2[0] and node[2]==start2[1]):
reach_goal = 1
x = node[1]
Expand Down
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87 changes: 48 additions & 39 deletions BFS.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,32 +5,34 @@

def main():

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]] )

maze = np.array( [[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, 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],
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, 0, 0, 0, 0],
[0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]] )

# maze = np.array( [[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, 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]] )

start = (0,0)
end = (0,len(maze[0])-1)
# end = (len(maze)-1,len(maze[0])-1)
# end = (9,8)

# res = maze[::-1]
# maze = res
# maze = np.transpose(maze)


a = len(maze) + 2
b = len(maze[0]) + 2
Expand All @@ -51,10 +53,7 @@ def main():
# plt.plot(i, j,'bs', fillstyle='full', markersize=25)
plt.plot(j-1, a-i,'bs', fillstyle='full', markersize=25)

start = (5,5)
# end = (len(maze)-1,len(maze[0])-1)
# end = (9,8)
end = (0,len(maze[0])-1)


# 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)
Expand Down Expand Up @@ -127,6 +126,9 @@ def main():
# 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
Expand All @@ -136,6 +138,8 @@ def main():
g = Cost + Heuristic
open_list.append([g,x,y,Cost])
explored_matrix[x][y]=-3
plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.pause(.1)
#Neighbor Right
x = current[1]+1
y = current[2]
Expand All @@ -145,6 +149,8 @@ def main():
g = Cost + Heuristic
open_list.append([g,x,y,Cost])
explored_matrix[x][y]=-3
plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.pause(.1)
#Neighbor Down
x = current[1]
y = current[2]-1
Expand All @@ -154,6 +160,8 @@ def main():
g = Cost + Heuristic
open_list.append([g,x,y,Cost])
explored_matrix[x][y]=-3
plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.pause(.1)
#Neighbor Left
x = current[1]-1
y = current[2]
Expand All @@ -163,6 +171,8 @@ def main():
g = Cost + Heuristic
open_list.append([g,x,y,Cost])
explored_matrix[x][y]=-3
plt.plot(y-1, a-x,'cx', fillstyle='full', markersize=22)
plt.pause(.1)
open_list.remove(current)
closed_list.append(current)
x = current[1]
Expand All @@ -177,7 +187,6 @@ def main():
# 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(0.1)
# print(x," ",y)
current = open_list[0]
Expand Down Expand Up @@ -215,39 +224,39 @@ def main():
# plot and break;
neighbors = []
#Neighbor Up
print("Neighbour Up")
# print("Neighbour Up")
x_neighbor = x
y_neighbor = y+1
score = explored_matrix[x_neighbor][y_neighbor]
print(x_neighbor," ",y_neighbor," ",score)
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
#Neighbor Right
print("Neighbour Right")
# print("Neighbour Right")
x_neighbor = x+1
y_neighbor = y
score = explored_matrix[x_neighbor][y_neighbor]
print(x_neighbor," ",y_neighbor," ",score)
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
#Neighbor Down
print("Neighbour Down")
# print("Neighbour Down")
x_neighbor = x
y_neighbor = y-1
score = explored_matrix[x_neighbor][y_neighbor]
print(x_neighbor," ",y_neighbor," ",score)
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
#Neighbor Left
print("Neighbour Left")
# print("Neighbour Left")
x_neighbor = x-1
y_neighbor = y
score = explored_matrix[x_neighbor][y_neighbor]
print(x_neighbor," ",y_neighbor," ",score)
# print(x_neighbor," ",y_neighbor," ",score)
if(score>0):
neighbors.append([score,x_neighbor,y_neighbor] )
neighbors.sort()
print(neighbors)
# print(neighbors)
if(len(neighbors)==0):
print("Path not found")
break
Expand All @@ -259,8 +268,8 @@ def main():
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(1)
print("here")
plt.pause(.1)
# print("here")
if(node[1]==start2[0] and node[2]==start2[1]):
reach_goal = 1
x = node[1]
Expand Down
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