Added Multi Heuristic Astar

Multi_Hueristic_Astar.py

@@ -0,0 +1,262 @@
+import heapq
+import numpy as np
+import math
+import copy
+
+
+class PriorityQueue:
+	def __init__(self):
+		self.elements = []
+		self.set = set()
+
+	def minkey(self):
+		if not self.empty():
+			return self.elements[0][0]
+		else:
+			return float('inf')
+
+	def empty(self):
+		return len(self.elements) == 0
+
+	def put(self, item, priority):
+		if item not in self.set:
+			heapq.heappush(self.elements, (priority, item))
+			self.set.add(item)
+		else:
+			# update
+			# print("update", item)
+			temp = []
+			(pri, x) = heapq.heappop(self.elements)
+			while x != item:
+				temp.append((pri, x))
+				(pri, x) = heapq.heappop(self.elements)
+			temp.append((priority, item))
+			for (pro, xxx) in temp:
+				heapq.heappush(self.elements, (pro, xxx))
+
+	def remove_element(self, item):
+		if item in self.set:
+			self.set.remove(item)
+			temp = []
+			(pro, x) = heapq.heappop(self.elements)
+			while x != item:
+				temp.append((pro, x))
+				(pro, x) = heapq.heappop(self.elements)
+			for (prito, yyy) in temp:
+				heapq.heappush(self.elements, (prito, yyy))
+
+	def top_show(self):
+		return self.elements[0][1]
+
+	def get(self):
+		(priority, item) = heapq.heappop(self.elements)
+		self.set.remove(item)
+		return (priority, item)
+
+def consistent_hueristic(P, goal):
+	# euclidean distance
+	a = np.array(P)
+	b = np.array(goal)
+	return np.linalg.norm(a - b)
+
+def hueristic_2(P, goal):
+	# integer division by time variable
+	return consistent_hueristic(P, goal) // t 
+
+def hueristic_1(P, goal):
+	# manhattan distance
+	return abs(P[0] - goal[0]) + abs(P[1] - goal[1])
+
+def key(start, i, goal, g_function):
+	ans = g_function[start] + W1 * hueristics[i](start, goal)
+	return ans
+
+def do_something(back_pointer, goal, start):
+	grid = np.chararray((n, n))
+	for i in range(n):
+		for j in range(n):
+			grid[i][j] = '*'
+
+	for i in range(n):
+		for j in range(n):
+			if (j, (n-1)-i) in blocks:
+				grid[i][j] = "#"
+
+	grid[0][(n-1)] = "-"
+	x = back_pointer[goal]
+	while x != start:
+		(x_c, y_c) = x
+		# print(x)
+		grid[(n-1)-y_c][x_c] = "-"
+		x = back_pointer[x]
+	grid[(n-1)][0] = "-"
+
+
+	for i in xrange(n):
+		for j in range(n):
+			if (i, j) == (0, n-1):
+				print grid[i][j],
+				print "<-- End position",
+			else:
+				print grid[i][j],
+		print
+	print("^")
+	print("Start position")
+	print
+	print("# is an obstacle")
+	print("- is the path taken by algorithm")
+	print("PATH TAKEN BY THE ALGORITHM IS:-")
+	x = back_pointer[goal]
+	while x != start:
+		print x, 
+		x = back_pointer[x]
+	print x
+	quit()
+
+def valid(p):
+	if p[0] < 0 or p[0] > n-1:
+		return False
+	if p[1] < 0 or p[1] > n-1:
+		return False
+	return True
+
+def expand_state(s, j, visited, g_function, close_list_anchor, close_list_inad,  open_list, back_pointer):
+	for itera in range(n_hueristic):
+		open_list[itera].remove_element(s)
+	# print("s", s)
+	# print("j", j)
+	(x, y) = s
+	left = (x-1, y)
+	right = (x+1, y)
+	up = (x, y+1)
+	down = (x, y-1)
+
+	for neighbours in [left, right, up, down]:
+		if neighbours not in blocks:
+			if valid(neighbours) and neighbours not in visited:
+				# print("neighbour", neighbours)
+				visited.add(neighbours)
+				back_pointer[neighbours] = -1
+				g_function[neighbours] = float('inf')
+
+			if valid(neighbours) and g_function[neighbours] > g_function[s] + 1:
+				g_function[neighbours] = g_function[s] + 1
+				back_pointer[neighbours] = s
+				if neighbours not in close_list_anchor:
+					open_list[0].put(neighbours, key(neighbours, 0, goal, g_function))
+					if neighbours not in close_list_inad:
+						for var in range(1,n_hueristic):
+							if key(neighbours, var, goal, g_function) <= W2 * key(neighbours, 0, goal, g_function):
+								# print("why not plssssssssss")
+								open_list[j].put(neighbours, key(neighbours, var, goal, g_function))
+
+
+	# print
+
+def make_common_ground():
+	some_list = []
+	# block 1
+	for x in range(1, 5):
+		for y in range(1, 6):
+			some_list.append((x, y))
+
+	# line
+	for x in range(15, 20):
+		some_list.append((x, 17))
+
+	# block 2 big
+	for x in range(10, 19):
+		for y in range(1, 15):
+			some_list.append((x, y))
+
+	# L block
+	for x in range(1, 4):
+		for y in range(12, 19):
+			some_list.append((x, y))
+	for x in range(3, 13):
+		for y in range(16, 19):
+			some_list.append((x, y))
+	return some_list
+
+hueristics = {0: consistent_hueristic, 1: hueristic_1, 2: hueristic_2}
+
+blocks_blk = [(0, 1),(1, 1),(2, 1),(3, 1),(4, 1),(5, 1),(6, 1),(7, 1),(8, 1),(9, 1),(10, 1),(11, 1),(12, 1),(13, 1),(14, 1),(15, 1),(16, 1),(17, 1),(18, 1), (19, 1)]
+blocks_no = []
+blocks_all = make_common_ground()
+
+
+
+
+blocks = blocks_blk
+# hyper parameters
+W1 = 1
+W2 = 1
+n = 20
+n_hueristic = 3 # one consistent and two other inconsistent
+
+# start and end destination
+start = (0, 0)
+goal = (n-1, n-1)
+
+t = 1
+def multi_a_star(start, goal, n_hueristic):
+	g_function = {start: 0, goal: float('inf')}
+	back_pointer = {start:-1, goal:-1}
+	open_list = []
+	visited = set()
+
+	for i in range(n_hueristic):
+		open_list.append(PriorityQueue())
+		open_list[i].put(start, key(start, i, goal, g_function))
+
+	close_list_anchor = []
+	close_list_inad = []
+	while open_list[0].minkey() < float('inf'):
+		for i in range(1, n_hueristic):
+			# print("i", i)
+			# print(open_list[0].minkey(), open_list[i].minkey())
+			if open_list[i].minkey() <= W2 * open_list[0].minkey():
+				global t
+				t += 1
+				# print("less prio")
+				if g_function[goal] <= open_list[i].minkey():
+					if g_function[goal] < float('inf'):
+						do_something(back_pointer, goal, start)
+				else:
+					_, get_s = open_list[i].top_show()
+					visited.add(get_s)
+					expand_state(get_s, i, visited, g_function, close_list_anchor, close_list_inad, open_list, back_pointer)
+					close_list_inad.append(get_s)
+			else:
+				# print("more prio")
+				if g_function[goal] <= open_list[0].minkey():
+					if g_function[goal] < float('inf'):
+						do_something(back_pointer, goal, start)
+				else:
+					# print("hoolla")
+					get_s = open_list[0].top_show()
+					visited.add(get_s)
+					expand_state(get_s, 0, visited, g_function, close_list_anchor, close_list_inad, open_list, back_pointer)
+					close_list_anchor.append(get_s)
+	print("No path found to goal")
+	print
+	for i in range(n-1,-1, -1):
+		for j in range(n):
+			if (j, i) in blocks:
+				print '#',
+			elif (j, i) in back_pointer:
+				if (j, i) == (n-1, n-1):
+					print '*',
+				else:
+					print '-',
+			else:
+				print '*',
+			if (j, i) == (n-1, n-1):
+				print '<-- End position',
+		print
+	print("^")
+	print("Start position")
+	print
+	print("# is an obstacle")
+	print("- is the path taken by algorithm")
+multi_a_star(start, goal, n_hueristic)