AStar Algorithm
Project description
pyastar - A* Algorithm in Python
You can find a documentation of pyastar at: https://www.egr.msu.edu/coinlab/pyastar/
Installation
The official release is always available at PyPi:
pip install -U pyastarUsage
Graph
from pyastar.interface import astar_graph
from pyastar.util.graph import WeightedGraph
def create_sample_graph():
G = WeightedGraph()
G.add_node("s", "a", "b", "c", "d", "e", "g")
G.add_edge("s", "a", 1.5)
G.add_edge("a", "b", 2.0)
G.add_edge("b", "c", 3.0)
G.add_edge("c", "g", 4.0)
G.add_edge("s", "d", 2.0)
G.add_edge("d", "e", 3.0)
G.add_edge("e", "g", 2.0)
G.preprocess()
return G
def heuristic_sample_graph(node):
D = {
"s": None,
"a": 4.0,
"b": 4.0,
"c": 4.0,
"d": 4.0,
"e": 4.0,
"g": 0.0
}
return D[node]
if __name__ == '__main__':
G = create_sample_graph()
ret = astar_graph(G, "s", "g", heuristic_sample_graph)
print("Shortest Path:", ret)Grid
from pyastar.interface import astar_graph
from pyastar.util.grid import Grid
from pyastar.util.heuristics import manhatten_dist_2d
grid = Grid(5, 5)
grid.add_obstacle((3, 0), (3, 1))
G = grid.to_graph()
start = (4, 0)
goal = (0, 4)
ret = astar_graph(G, start, goal, lambda x: manhatten_dist_2d(x, goal))
print("Shortest Path:", ret)Contact
Feel free to contact me if you have any question:
Julian Blank (blankjul [at] egr.msu.edu)
Michigan State University
Computational Optimization and Innovation Laboratory (COIN)
East Lansing, MI 48824, USA
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