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Astar Python Code

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2 views

Astar Python Code

Uploaded by

rsviniba96
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as ODT, PDF, TXT or read online on Scribd
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A* Program:

def aStarAlgo(start_node, stop_node):

open_set = set(start_node)

closed_set = set()

g = {} #store distance from starting node

parents = {}# parents contains an adjacency map of all nodes

#ditance of starting node from itself is zero

g[start_node] = 0

#start_node is root node i.e it has no parent nodes

#so start_node is set to its own parent node

parents[start_node] = start_node

while len(open_set) > 0:

n = None

#node with lowest f() is found

for v in open_set:

if n == None or g[v] + heuristic(v) < g[n] + heuristic(n):

n=v

if n == stop_node or Graph_nodes[n] == None:


pass

else:

for (m, weight) in get_neighbors(n):

#nodes 'm' not in first and last set are added to first

#n is set its parent

if m not in open_set and m not in closed_set:

open_set.add(m)

parents[m] = n

g[m] = g[n] + weight

#for each node m,compare its distance from start i.e g(m) to the

#from start through n node

else:

if g[m] > g[n] + weight:

#update g(m)

g[m] = g[n] + weight

#change parent of m to n

parents[m] = n

#if m in closed set,remove and add to open

if m in closed_set:

closed_set.remove(m)

open_set.add(m)
if n == None:

print('Path does not exist!')

return None

# if the current node is the stop_node

# then we begin reconstructin the path from it to the start_node

if n == stop_node:

path = []

while parents[n] != n:

path.append(n)

n = parents[n]

path.append(start_node)

path.reverse()

print('Path found: {}'.format(path))

return path

# remove n from the open_list, and add it to closed_list

# because all of his neighbors were inspected

open_set.remove(n)

closed_set.add(n)
print('Path does not exist!')

return None

#define fuction to return neighbor and its distance

#from the passed node

def get_neighbors(v):

if v in Graph_nodes:

return Graph_nodes[v]

else:

return None

#for simplicity we ll consider heuristic distances given

#and this function returns heuristic distance for all nodes

def heuristic(n):

H_dist = {

'A': 11,

'B': 6,

'C': 99,

'D': 1,

'E': 7,

'G': 0,

return H_dist[n]
#Describe your graph here

Graph_nodes = {

'A': [('B', 2), ('E', 3)],

'B': [('C', 1),('G', 9)],

'C': None,

'E': [('D', 6)],

'D': [('G', 1)],

aStarAlgo('A', 'G')

OUTPUT:

Path found: ['A', 'E', 'D', 'G']

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