stop is done
This commit is contained in:
parent
daff5121f9
commit
52a1e4f691
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@ -1,10 +1,7 @@
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17栋,18-3,1
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601食堂,9-3,10
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轻食,16-1,100
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超市,14-1,1
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102教学楼,9-6,1
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101教学楼,9-6,1
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103教学楼,9-6,1
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PDL,16-8,1
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银河楼,13-8,10
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航天楼,14-6,1
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天河楼,15-12,1
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体育馆,11-11,1
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博餐,6-16,10
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游泳馆,8-14,1
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八队,20-16,1
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科技楼,2-10,2
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博宿舍,5-14,1
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87
main/main.py
87
main/main.py
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@ -10,6 +10,7 @@ from aiohttp.hdrs import LOCATION
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import math
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from _overlapped import NULL
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import sys
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import random
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class Point:
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def __init__(self,x,y):
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self.x,self.y = x,y
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@ -213,10 +214,17 @@ class AIPath:
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point_start = Point(self.locations[start][0],self.locations[start][1])
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point_end = Point(self.locations[end][0],self.locations[end][1])
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self.draw_path(self.a_star(point_start,point_end))
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path = self.a_star(point_start,point_end)
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path.append(point_end)
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print (path)
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self.draw_path(path)
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def find_planning(self):
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self.cvs.delete('all')
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self.draw_map()
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print("规划上半部分>>>>")
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self.find_planning_with_nodes("top_nodes.csv")
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print("规划下半部分>>>>")
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self.find_planning_with_nodes("bottom_nodes.csv")
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@ -242,22 +250,35 @@ class AIPath:
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frontier.append(point_start)
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expanded = list()
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#用户缓存记录 建筑物到路径某个点的最短路径
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cache_path = dict()
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round = 0
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while True:
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print("------------ planning new round-----------------")
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# print("------------ planning new round-----------------")
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if len(frontier) == 0:
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print("fail")
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return
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point_to_ep = self.pop_frontier4planning(frontier, sub_nodes)
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print("现在判读单节点: %d-%d" %(point_to_ep.x,point_to_ep.y))
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point_to_ep = self.pop_frontier4planning(cache_path,frontier, sub_nodes)
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# print("现在判读单节点: %d-%d" %(point_to_ep.x,point_to_ep.y))
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# print("father:",point_to_ep.father)
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print("目前为止路径:",self.get_solution(point_to_ep))
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# print("目前为止路径:",self.get_solution(point_to_ep))
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if point_to_ep.equals(point_end) or point_to_ep.next_to(point_end):
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print("planning succesuss")
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path = self.get_solution(point_to_ep)
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path.append(point_end)
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for sb in sub_nodes:
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if sb[0] not in cache_path:
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cache_path[sb[0]] = dict()
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if point_end not in cache_path[sb[0]]:
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cache_path[sb[0]][point_end] = len(self.a_star(point_end, sb[0]))
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print (path)
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self.draw_path(path)
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#求站点
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self.set_stop(cache_path,sub_nodes,path)
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return
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expanded.append(point_to_ep)
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@ -277,12 +298,49 @@ class AIPath:
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# if(point_to_ep.x == 12 and point_to_ep.y == 3):
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# print("你想要的")
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# break
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print("------------planning round ends----------------")
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print("\n")
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round += 1
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# if round == 3:
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# break
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def pop_frontier4planning(self,frontier,sub_nodes):
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# print("------------planning round ends----------------")
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# print("\n")
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# def set_stop_k(self,cache,sub_nodes,path):
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def set_stop(self,cache,sub_nodes,path):
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# temp_path = path[1:len(path)-1]#不要首尾
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temp_path = path
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n = len(temp_path)
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k = 5
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left_k = 5-2
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stop_cost = dict() #每一种方案的代价
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end_n = int(math.pow(n,left_k))
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for i in range(0,end_n):
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points = list()
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points.append(path[0])
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points.append(path[len(path)-1])#路径的首尾点图书馆和北门默认是站点
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map_key = ''
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map_key += path[0].__str__() +','
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map_key += path[len(path)-1].__str__() +','
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for j in range(0,left_k):
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points.append(temp_path[(i%n)])
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map_key += path[(i%n)].__str__()+","
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i = int(i / n)
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count = 0
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for sb in sub_nodes:
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mins = sys.maxsize
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for p in points:
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if cache[sb[0]][p]*sb[1] < mins:#考虑人数因素
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mins = cache[sb[0]][p]*sb[1]
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count += mins
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stop_cost[map_key] = count
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best = sorted(stop_cost.items(),key=lambda d:d[1])[0]
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stops = best[0].split(",")[0:k]
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print(stops)
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for stop in stops:
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xy = stop.split('-')
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self.cvs.create_rectangle(int(xy[0])* self.width_m, int(xy[1]) * self.height_m, (int(xy[0])+1)* self.width_m,(int(xy[1])+1)* self.height_m,fill ='yellow',outline = 'yellow')
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def pop_frontier4planning(self,cache,frontier,sub_nodes):
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min = sys.maxsize
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poped = ''
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pos = -1
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@ -297,7 +355,12 @@ class AIPath:
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dis_to_path = sys.maxsize
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pf = p
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while pf != None:
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min_step = len(self.a_star(pf, sb[0]))
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if sb[0] not in cache:
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cache[sb[0]] = dict()
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if pf not in cache[sb[0]]:
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cache[sb[0]][pf] = len(self.a_star(pf, sb[0]))
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min_step = cache[sb[0]][pf]
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#min_step = len(self.a_star(pf, sb[0]))
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if min_step*sb[1] < dis_to_path:
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dis_to_path = min_step*sb[1]
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# if sb[0].mh_dis(pf)*sb[1] < dis_to_path:
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@ -3,7 +3,7 @@
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0,5,5,5,5,5,6,6,6,6,1,1,1,1,1,1,1,1,1,1,6,6,0
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0,2,5,5,5,5,6,6,6,2,1,2,1,6,6,6,6,1,2,1,2,6,0
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0,2,5,5,5,5,6,6,6,1,1,2,1,6,6,6,6,1,6,1,5,5,0
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0,2,5,5,5,5,6,6,1,1,1,1,1,1,1,1,1,1,6,6,5,5,0
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0,2,5,5,5,5,6,6,6,1,1,1,1,1,1,1,1,1,6,6,5,5,0
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0,2,5,5,5,5,2,5,1,2,1,2,1,2,2,2,2,1,2,2,5,5,0
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0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,5,5,0
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0,1,2,1,5,5,5,5,5,5,5,5,1,2,6,1,2,6,2,1,5,5,0
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@ -0,0 +1,15 @@
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import math
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a = [1,2,3,4]
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n = len(a)
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k = 3
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end_n = int(math.pow(n,k))
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print(n,end_n)
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count = 0
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for i in range(0,end_n):
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str = ''
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for j in range(0,k):
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str += "%d-"%a[(i%n)]
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i = int(i / n)
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count += 1
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print (str)
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print (count)
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天河楼,15-12,1
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体育馆,11-11,1
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博餐,6-16,1000000
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游泳馆,8-14,1
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八队,20-16,1
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科技楼,2-10,1
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博宿舍,5-14,1
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17栋,18-3,1
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601食堂,9-3,1
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轻食,16-1,11
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超市,14-1,1
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102教学楼,9-6,2
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101教学楼,9-6,2
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103教学楼,9-6,2
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PDL,16-8,3
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银河楼,13-8,1
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航天楼,14-6,1
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@ -81,11 +81,12 @@
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\label{knn}
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\end{figure}
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\subsection{两点间最短路径}
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\subsection{最短路径}
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本次试验支持搜寻两点之间的最短路径，具体求解过程用到了A*算法。
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\subsection{求解}
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\subsection{线路规划}
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cache 优化
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\begin{table}[!h]
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