CN107247805A - A kind of method for searching path based on A* algorithms, equipment and computing terminal - Google Patents
A kind of method for searching path based on A* algorithms, equipment and computing terminal Download PDFInfo
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- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
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Abstract
The invention discloses a kind of method for searching path based on A* algorithms, suitable for being performed in computing device, the map includes the array with multiple nodes, and the computing device includes list memory, be stored with unlatching list and delete list in the list memory, and the method comprising the steps of：Judge whether the quantity of array interior joint is less than predetermined value, if it is determined that the quantity of the array interior joint is less than predetermined value, then will open list and build up doubly linked list；Array, the start node and destination node of acquisition approach search are monitored, and start node is added into doubly linked list；The node of doubly linked list gauge outfit is deleted, and the node of the doubly linked list gauge outfit of deletion is added into delete list；And whether the node of the deleted doubly linked list gauge outfit of judgement is destination node, if the node for the doubly linked list gauge outfit deleted is destination node, continue to monitor array.Present invention also offers a kind of route searching equipment and include according to the present invention route searching equipment computing device.
Description
The application is the Application No. 201410720889.0 that the applicant submitted on December 2nd, 2014, entitled one
Plant the divisional application of the application for a patent for invention of the map road-seeking method based on A* algorithms, equipment and computing terminal.
Technical field
The present invention relates to electronic map field, more particularly to a kind of route searching scheme based on A* algorithms.
Background technology
At present, increasing software and application are required for generating and present a map for realizing certain function to user.
For example, in Games Software application, computing device (such as desktop computer, notebook and other intelligent terminals) needs life
Into scene of game map.In the map, the role of game player's control and the role of non-player control are needed according to certain
Path move, therefore route searching can be related in map to route selection and to avoid barrier point.Except in trip
Need to carry out outside route searching in play, some, which are related in the application in path, is also required to use route searching scheme.On a variety of roads
In path search application scheme, involved A* algorithms are a kind of heuristic search algorithms.In the route searching side of application A* algorithms
In case, multiple nodes in map can be judged.During pathfinding, the node not judged constantly can be added into a row
Table, that is, open list, and by it is determined that the node crossed is added to another list, i.e. delete list.The meeting during pathfinding
Constantly operated to opening list, include insertion, sequence and retrieval of node etc..
According to open data in list and the characteristics of various operations, it is necessary to open list data structure and insertion,
The operation such as sequence is controlled, to reduce the time complexity of operation.It is how split using y-bend heaping method in currently existing scheme
List is opened to be operated.However, because Binary Heap is more complicated in realization, intractability is higher, thus map nodes compared with
When few, using the mode of operation of Binary Heap, then cost performance is relatively low.
Accordingly, it would be desirable to a kind of new route search plan, can judge map, and when map nodes are less, with
Higher operating efficiency carries out pathfinding.
The content of the invention
Therefore, the present invention provides a kind of new scheme to try hard to solve or at least alleviate the problem of above existing.
According to an aspect of the invention, there is provided a kind of method for searching path based on A* algorithms, suitable for being set in calculating
Standby middle execution, the map of the route searching includes the array with multiple nodes, and the computing device includes list memory, the row
Be stored with unlatching list and delete list in table memory, and the unlatching list includes treating the node of pathfinding detection, the delete list
Including the node deleted from list is opened.
The method comprising the steps of, judges whether the quantity of the array interior joint is less than predetermined value, if it is determined that the array
The quantity of interior joint is less than predetermined value, then the unlatching list is built up into doubly linked list；Monitor the array, acquisition approach search
Start node and destination node, and the start node is added into the doubly linked list；Delete the section of the doubly linked list gauge outfit
Point, and the node for the doubly linked list gauge outfit deleted is added into delete list；And judge deleted doubly linked list gauge outfit
Whether node is destination node, if the node of the doubly linked list gauge outfit of the deletion is destination node, continues to monitor described
Array, if the node of the doubly linked list gauge outfit of the deletion is not destination node, obtains the doubly linked list gauge outfit of the deletion
The node of predetermined condition is met around node, and the acquired node for meeting the predetermined condition is added into the doubly linked list；
And continue to delete the node of the doubly linked list gauge outfit, and the node for the doubly linked list gauge outfit deleted is added into delete list.
Alternatively, in the method for searching path according to the present invention, around the node for obtaining the doubly linked list gauge outfit deleted
The step of node for meeting the predetermined condition, includes, obtain delete the doubly linked list gauge outfit node can directly reach,
It is not belonging to the node of the delete list and non-obstacle.
Alternatively, step is also included according to the method for searching path of the present invention, when it is determined that the doubly linked list table of the deletion
When the node of head is destination node, node in the delete list obtain the start node and the destination node it
Between shortest path.
Alternatively, in the method for searching path according to the present invention, the scope of predetermined value is 1000.
Alternatively, in the method for searching path according to the present invention, the acquired node for meeting the predetermined condition is added
The step of entering the doubly linked list includes：The node of the doubly linked list is ranked up；And this is met into the predetermined bar
The node of part is added to the doubly linked list in insertion sort mode.
According to another aspect of the present invention there is provided a kind of route searching equipment based on A* algorithms, route searching
Map includes the array with multiple nodes, and the equipment includes list memory, first processor, monitor, second processor
And the 3rd processor.
List memory is suitable to storage and opens list and delete list, and the unlatching list includes node to be detected, and this is deleted
Except list includes the node deleted from list is opened.
First processor is suitable to judge whether the quantity of the array interior joint is less than predetermined value, if it is determined that in the array
The quantity of node is less than predetermined value, then the unlatching list is built up into doubly linked list.
Monitor is suitable to monitor the array, the start node and destination node searched for acquisition approach, and is opened described
Beginning node adds the doubly linked list；
Second processor is suitable to the node for deleting the doubly linked list gauge outfit, and by the node for the doubly linked list gauge outfit deleted
Add delete list；And
Whether the node that the 3rd processor is suitable to judge deleted doubly linked list gauge outfit is destination node, if described delete
The node for the doubly linked list gauge outfit removed is destination node, it indicates that the monitor continues to monitor the array, if the deletion
The node of doubly linked list gauge outfit be not destination node, then meet described around the node for the doubly linked list gauge outfit for obtaining the deletion
The node of predetermined condition, and the acquired node for meeting the predetermined condition is added into doubly linked list, and indicate at second
Manage device to continue to delete the node of the doubly linked list gauge outfit, and the node for the doubly linked list gauge outfit deleted is added into delete list.
Alternatively, in the route searching equipment according to the present invention, the 3rd processor is deleted according to being obtained following manner
The node of the predetermined condition is met around the node for the doubly linked list gauge outfit removed, the doubly linked list table of the deletion is obtained
The node of head can directly reach, be not belonging to the node of the delete list and non-obstacle.
Alternatively, in the route searching equipment according to the present invention, the 3rd processor is further adapted for：When it is determined that the deletion
When the node of doubly linked list gauge outfit is destination node, node in the delete list obtain the start node with it is described
Shortest path between destination node.
Alternatively, in the route searching equipment according to the present invention, the scope of predetermined value is 1000.
Alternatively, in the route searching equipment according to the present invention, the 3rd processor will be acquired full according to following manner
The node of the foot predetermined condition adds the doubly linked list：The node of the doubly linked list is ranked up；And expire this
The node of the foot predetermined condition is added to the doubly linked list in insertion sort mode.
According to a further aspect of the invention there is provided a kind of computing terminal, the computing terminal include it is above-mentioned in any road
Path search equipment.
According to the route searching scheme based on A* algorithms of the present invention, pass through the judgement to map scale and determination map
When scale is smaller, then to open list use doubly linked list structure, on this basis to open list inserted, delete and
The operation such as sequence, realizes the simple operations of route searching, resource overhead is smaller and time complexity is relatively low.
Brief description of the drawings
In order to realize above-mentioned and related purpose, some illustrative sides are described herein in conjunction with following description and accompanying drawing
Face, these aspects indicate the various modes of principles disclosed herein that can put into practice, and all aspects and its equivalent aspect
It is intended to fall under in the range of theme claimed.The following detailed description by being read in conjunction with the figure, the disclosure it is above-mentioned
And other purposes, feature and advantage will be apparent.Throughout the disclosure, identical reference generally refers to identical
Part or element.
Fig. 1 shows the structured flowchart of a mobile terminal；
Fig. 2 shows the schematic diagram of the route searching equipment according to an embodiment of the invention based on A* algorithms；
Fig. 3 shows the flow chart of the method for searching path according to an embodiment of the invention based on A* algorithms.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
Fig. 1 is the structured flowchart of mobile terminal 1 00.Mobile terminal 1 00 can include memory interface 102, one or many
Individual data processor, image processor and/or CPU 104, and peripheral interface 106.
Memory interface 102, one or more processors 104 and/or peripheral interface 106 both can be discrete components,
It can be integrated in one or more integrated circuits.In the mobile terminal 100, various elements can pass through one or more communication
Bus or signal wire are coupled.Sensor, equipment and subsystem may be coupled to peripheral interface 106, a variety of to help to realize
Function.
For example, motion sensor 110, optical sensor 112 and range sensor 114 may be coupled to peripheral interface 106, with
The functions such as convenient orientation, illumination and ranging.Other sensors 116 can equally be connected with peripheral interface 106, such as alignment system
(such as GPS), temperature sensor, biometric sensor or other sensor devices, it is possible thereby to help to implement correlation
Function.
Camera sub-system 120 and optical sensor 122 can be used for the camera of convenient such as recording photograph and video clipping
The realization of function, wherein the camera sub-system and optical sensor for example can be charge coupling device (CCD) or complementary gold
Belong to oxide semiconductor (CMOS) optical sensor.It can help to realize by one or more radio communication subsystems 124
Communication function, wherein radio communication subsystem can include radio-frequency transmitter and emitter and/or light (such as infrared) receiver
And emitter.The particular design and embodiment of radio communication subsystem 124 can depend on mobile terminal 1 00 is supported one
Individual or multiple communication networks.For example, mobile terminal 1 00 can include being designed to support GSM network, GPRS network, EDGE nets
Network, Wi-Fi or WiMax network and BlueboothTMThe communication subsystem 124 of network.
Audio subsystem 126 can be coupled with loudspeaker 128 and microphone 130, to help to implement to enable voice
Function, such as speech recognition, speech reproduction, digital record and telephony feature.I/O subsystems 140 can include touch-screen control
Device 142 processed and/or other one or more input controllers 144.Touch screen controller 142 may be coupled to touch-screen 146.Lift
For example, the touch-screen 146 and touch screen controller 142 can use any one of a variety of touch-sensing technologies to detect
The contact and movement or pause carried out therewith, wherein detection technology include but is not limited to capacitive character, resistive, infrared and table
Face technology of acoustic wave.Other one or more input controllers 144 may be coupled to other input/control devicess 148, such as one
Or the pointer device of multiple buttons, rocker switch, thumb wheel, infrared port, USB port, and/or instruction pen etc.It is described
One or more button (not shown)s can include the up/down for controlling loudspeaker 128 and/or the volume of microphone 130
Button.
Memory interface 102 can be coupled with memory 150.The memory 150 can be deposited including high random access
Reservoir and/or nonvolatile memory, such as one or more disk storage equipments, one or more optical storage apparatus, and/
Or flash memories (such as NAND, NOR).Memory 150 can store an operating system 172, such as Android, IOS or
Windows Phone etc operating system.The operating system 172 can include being used to handle basic system services and execution
Instruction dependent on the task of hardware.Memory 150 can also store and apply 174., can be from memory when mobile device is run
Operating system 172 is loaded in 150, and is performed by processor 104.Using 154 operationally, it can also add from memory 150
Carry, and performed by processor 104.Operate on operating system, provided using operating system and bottom hardware using 174
Interface realizes the desired function of various users, such as instant messaging, web page browsing, pictures management.It can be independently of using 174
It is that operating system 172 is provided or that operating system 172 is carried.
In above-mentioned various applications 174, a kind of application therein is the route searching equipment 200 according to the present invention.The road
Path search equipment can be when the node of electronic map be less, using a kind of pathfinding side for applying non-y-bend pile structure and sequence
Formula, to improve pathfinding efficiency.It should be noted that the route searching equipment 200 can also be in other a variety of computing device (examples
Such as, notebook computer, handheld device etc.) middle application.
Fig. 2 shows that the structure of the route searching equipment 200 according to an embodiment of the invention based on A* algorithms is shown
It is intended to.The route searching equipment 200 can be resident in a variety of computing devices.
When including application component (such as game component) needs of route searching equipment 200 in computing device in electronics
When the enterprising walking along the street footpath of map is selected, Path selection can be carried out using A* algorithms.First, electronic map is divided into by application component
The array of multiple node compositions, and the node in array is divided into barrier point and the node that can pass through, wherein each section
Point can be with the grid-like region of certain area or center of circle region, naturally it is also possible to set node
For the region of other shapes.Then, when have selected the start node A and target node b in path, can according to start node A and
Target node b carries out data analysis with the position relationship of other nodes in electronic map to the node that can pass through.Here with
Exemplified by grid-like node, data analysis is carried out to non-obstacle nodes especially by following formula (1).
F=G+H (1)
When one node of selection (node is a node from node A to node B on selectable path) is father's section
During point C, the father node C directions advanced can be analyzed.When a node N to can directly be reached around it carries out data
During analysis, G represents that start node A reaches node N actual mobile consumption figures, i.e. actual cost via father node C.Wherein, from
The direction that any one non-obstacle nodes is moved to surrounding can have multiple choices, for example, adjacent with the four edges of the node
The direction of ground node, i.e., forward and backward, left and right, naturally it is also possible to the direction of the node including the node diagonally opposing corner, and move every time
It is dynamic all to correspond to certain consumption figures.For the ease of calculating, the consumption figures that single step can be selected to move is identical.H represent from node N to
Estimated mobile consumption figures, the i.e. estimate cost of target node b.H calculations can select to be not make a distinction barrier point,
But directed along the mobile consumption figures after node N to the rectangular area edge between target node b node motion.F is represented
Node A reaches the evaluation function value of target node b via father node C, node N.
As shown in Fig. 2 including list memory 240, first according to the route searching equipment based on A* algorithms of the present invention
Processor 210, monitor 250, the processor 230 of second processor 220 and the 3rd.
List memory 240 is suitable to storage and opens list and delete list.The unlatching list includes treating the section of pathfinding detection
Point, the delete list includes the node deleted from list is opened.According to one embodiment of present invention, when from A nodes
When being moved to a node D, in node D can directly reach multiple nodes of surrounding, if node is not belonging to delete
List and also it is not added in unlatching list, then opens list and be suitable to receive and store these nodes.
First processor 210 is suitable to judge whether the quantity of the array interior joint of map is less than predetermined value, such as predetermined value
Value is 1000 nodes.Here why array interior joint quantity is judged, is due to when number of nodes is more two
Pitching the storage organization and corresponding sortord of heap has preferable performance.But if when node is less, then can highlight
In application y-bend pile structure and sortord pathfinding, expense is higher and complicated.Therefore need to apply a kind of knot more optimized
Structure and sortord carry out pathfinding operation, during to be inserted and deleted to open list interior joint, reduction operation overhead,
Reduce time complexity.Therefore, if it is determined that when the quantity of the array interior joint is less than predetermined value, first processor 210 can be by
Open list and build up doubly linked list structure.Here doubly linked list structure is used when map scale is smaller so that list is stored
The handling process of the operations such as insertion, sequence, the deletion of the unlatching list interior joint that are stored in device 240 is simpler, and efficiency is more
It is high.
Monitor 250 is suitable to monitoring user input or preset data.Monitor 250 can obtain user inputs or pathfinding
Equipment preset start node A and target node b, then add doubly linked list by start node A.Here due in start node
It is sky that list is opened before addition, so need not be ranked up to opening list and start node insertion directly is opened into row
Table.
Second processor 220 is suitable to the node for deleting the doubly linked list gauge outfit, and by the doubly linked list gauge outfit deleted
Node adds delete list.Here the gauge outfit for the chained list deleted is a node on the path of route searching, and the node is such as
Fruit is target node b, then pathfinding is completed, if not target node b, then suitable for from the node, continuing to surrounding pathfinding.
Whether the node that the 3rd processor 230 is suitable to judge the doubly linked list gauge outfit that second processor 220 is deleted is target
Node B.The first situation is that the node for the doubly linked list gauge outfit deleted is target node b, then it represents that searched out one
Target (for example, user's control role or non-controlling role in game) in shorter mobile route supplied for electronic map is moved
It is dynamic.Therefore, this pathfinding is completed, and the node that the 3rd processor 230 can be in delete list obtains start node A and target section
Shortest path between point B, the sequence node that the shortest path is made up of the node in delete list, and list is stored
Unlatching list and delete list in device are emptied respectively.Then, the 3rd processor 230 indicates that monitor 250 continues to monitor array,
Etc. NEW BEGINNING node to be obtained and destination node.
Second of situation is that the node of the doubly linked list gauge outfit of the deletion is not the Two-way Chain of target node b, the then deletion
The node of table gauge outfit is the intermediate node on the path from start node A to target node b, it is necessary to continue from the node to target
Node B carries out pathfinding operation, therefore the node is set into father node C.
Further, the 3rd processor 230 obtains the node that predetermined condition is met around father node C, then by the section of acquisition
Point adds doubly linked list.
Specifically, the 3rd processor 230 first updates the actual cost G and evaluation function value F for opening list interior joint, so
It is ranked up afterwards according to the evaluation function value F after renewal to opening list, and then since at the gauge outfit or table tail of doubly linked list,
Judge the insertion position of the node of pre-inserted, and node is inserted into the insertion position.Here insertion sort side can be selected
Formula, can also select the modes such as Binary ordering to find the insertion position of node.It is of course also possible to select to need to insert to open
All nodes of list are added after unlatching list, then are uniformly ranked up.The node for wherein meeting predetermined condition is deleted
The node of doubly linked list gauge outfit can directly reach, be not belonging to the node of delete list and non-obstacle.Here list is opened by row
After sequence and insertion, new gauge outfit node is from father node C to the selected section that advances of target node b pathfinding in doubly linked list
Point.
Then, the 3rd processor 230 indicates that second processor 220 deletes the node of the doubly linked list gauge outfit (selected by i.e.
Advance node) and the node of the doubly linked list gauge outfit deleted added into delete list.
Finally, the 3rd processor 230 continues to judge the section of the new gauge outfit deleted from doubly linked list for adding delete list
Whether point is destination node.
Fig. 3 shows the flow chart of the method for searching path according to an embodiment of the invention based on A* algorithms.This is sought
Path method is suitable to perform in a variety of computing devices for needing to carry out pathfinding.The map is the array that multiple nodes are constituted.The meter
Calculating equipment includes list memory, and the list memory has unlatching list and delete list.Open to include in list and wait to seek
The node of road detection, delete list includes the node deleted from list is opened.
As shown in figure 3, this method 300 starts from step S310, judge whether the quantity of array interior joint is less than predetermined value, such as
Fruit determines that the quantity of the array interior joint is less than predetermined value, then the unlatching list is built up into doubly linked list.Array interior joint
Quantity corresponds to the scale of map.The predetermined value can carry out true according to the disposal ability of the equipment of specific implementation method for searching
Fixed, it is 1000 nodes for example to select predetermined value.If number of nodes be less than predetermined value, select by open list initialization be
Doubly linked list structure, to be ranked up and insert or delete operation to opening the node in list.Here due to using two-way
List structure so that, can be more simpler than modes such as Binary Heaps and conveniently when being operated to opening list interior joint, together
When time complexity and resource overhead it is smaller.
Then, method 300 enters step S320, preset number of the monitoring user for the input of map or on pathfinding
Start node A and target node b are obtained according to, the selection instruction that can be inputted according to user or preset information, and will be started
Node A adds the doubly linked list.In step s 320, start node A is the starting point in path, and now in doubly linked list
Only start node A.Therefore it need not be ranked up in this step to opening list interior joint, and method 300 is directly entered
Step S330, deletes the node of doubly linked list gauge outfit, and the node of deletion is added into delete list.Here the chained list deleted
Gauge outfit is a node on the path of route searching, and the node is if target node b, then pathfinding is completed, if not mesh
Node B is marked, then can be continued from the node to surrounding pathfinding, you can to select the node being set to father node C.
Then, method 300 enters step S340, first determines whether to be newly joined the node of delete list (finally from two-way
The node for the gauge outfit deleted in chained list) whether it is target node b.If the node is target node b, pathfinding task is completed,
The most short or shorter path between start node A and target node b, i.e. acquisition approach can be obtained according to delete list interior joint
Sequence node, then empty unlatching list and delete list.Then, method 300 jumps to step S320, continues to monitor map
Array, to obtain NEW BEGINNING node A and target node b.
When the node for determining to be newly joined delete list in step S340 is not target node b, then method enters step
Rapid S350, this is newly joined the node of delete list as father node C, and is obtained and met predetermined condition around father node C
Node, and be added in doubly linked list.In step S350, according to one embodiment of present invention, father node C is obtained first
Can be directly to reach, be not barrier point and the node not in delete list, then will not open row in acquired node
The node of table adds doubly linked list.
Specifically, in step S350, according to one embodiment of present invention, first based on the father node C of acquisition,
The actual cost G of each node in doubly linked list is recalculated, i.e., reaches each node from start node A via father node C
Actual cost G, and the H values of each node keep constant, then according to the new actual cost G of each node, update each section
The evaluation function value F of point.After the completion of the actual cost G, the evaluation function value F that open each node in list update, to two-way
The node of chained list is ranked up, i.e., the minimum node of F values is stored in the gauge outfit position of doubly linked list.Then, will be acquired
The node do not obtained in the insertion position of doubly linked list in insertion sort mode in the node for opening list in node, and then is inserted
Enter into doubly linked list.Then, method 300 jumps to step S330, continues to delete the node of doubly linked list gauge outfit, and will delete
Node add delete list.
In the specification that this place is provided, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice in the case of these no details.In some instances, known method, knot is not been shown in detail
Structure and technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect, exist
Above in the description of the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect
The application claims of shield are than the feature more features that is expressly recited in each claim.More precisely, as following
As claims reflect, inventive aspect is all features less than single embodiment disclosed above.Therefore, abide by
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
It is used as the separate embodiments of the present invention.
Those skilled in the art should be understood the module or unit or group of the equipment in example disclosed herein
Part can be arranged in equipment as depicted in this embodiment, or alternatively can be positioned at and the equipment in the example
In different one or more equipment.Module in aforementioned exemplary can be combined as a module or be segmented into addition multiple
Submodule.
Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit is required, summary and accompanying drawing) disclosed in each feature can or similar purpose identical, equivalent by offer alternative features come generation
Replace.
Although in addition, it will be appreciated by those of skill in the art that some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of be the same as Example does not mean in of the invention
Within the scope of and form different embodiments.For example, in the following claims, times of embodiment claimed
One of meaning mode can be used in any combination.
In addition, be described as herein can be by the processor of computer system or by performing for some in the embodiment
Method or the combination of method element that other devices of the function are implemented.Therefore, with for implementing methods described or method
The processor of the necessary instruction of element forms the device for implementing this method or method element.In addition, device embodiment
Element described in this is the example of following device：The device is used to implement as in order to performed by implementing the element of the purpose of the invention
Function.
As used in this, unless specifically stated so, come using ordinal number " first ", " second ", " the 3rd " etc.
Description plain objects are merely representative of the different instances for being related to similar object, and are not intended to imply that the object being so described must
Must have the time it is upper, spatially, in terms of sequence or given order in any other manner.
Claims (9)
1. a kind of method for searching path based on A* algorithms, suitable for being performed in computing device, the map of route searching includes tool
There is the array of multiple nodes, the computing device includes be stored with list memory, the list memory unlatching list and deletion
List, the unlatching list includes treating the node of pathfinding detection, and the delete list includes the node deleted from list is opened, its
In, each node is the grid-like region with certain area, and the method comprising the steps of：
Judge whether the quantity of the array interior joint is less than predetermined value, if it is determined that the quantity of the array interior joint is less than predetermined
Value, then build up doubly linked list by the unlatching list；
The array, the start node and destination node of acquisition approach search are monitored, and the start node is added described pair
To chained list；
The node of the doubly linked list gauge outfit is deleted, and the node for the doubly linked list gauge outfit deleted is added into delete list；And
Whether the node for judging deleted doubly linked list gauge outfit is destination node,
If the node of the doubly linked list gauge outfit of the deletion is destination node, continue to monitor the array,
If the node of the doubly linked list gauge outfit of the deletion is not destination node, the section of the doubly linked list gauge outfit of the deletion is obtained
The node of predetermined condition is met around point, and the acquired node for meeting the predetermined condition is added into the doubly linked list；With
And
Continue the node of the deletion doubly linked list gauge outfit, and the node for the doubly linked list gauge outfit deleted added into delete list,
Wherein, the operation for the acquired node for meeting predetermined condition being added into the doubly linked list includes：
The actual cost of each node in doubly linked list is recalculated, to update the evaluation function value of each node, the appraisal
Functional value is the estimate cost sum of the actual cost and node, and the estimate cost is directed along the node to target section
Mobile consumption figures after the node motion at the rectangular area edge between point,
The node of the doubly linked list is ranked up,
This is met into the node of the predetermined condition in insertion sort mode and is added to the doubly linked list.
2. method for searching path as claimed in claim 1, wherein the node of the doubly linked list gauge outfit for obtaining the deletion
The step of surrounding meets the node of the predetermined condition includes：
Obtaining the node of the doubly linked list gauge outfit of the deletion can directly reach, be not belonging to the delete list and non-obstacle
Node.
3. method for searching path as claimed in claim 1, in addition to step：
When it is determined that the node of the doubly linked list gauge outfit of the deletion is destination node, the node in the delete list is obtained
Take the shortest path between the start node and the destination node.
4. method for searching path as claimed in claim 1, wherein the scope of the predetermined value is 1000.
5. a kind of route searching equipment based on A* algorithms, the map of route searching includes the array with multiple nodes, wherein,
Each node is the grid-like region with certain area, and the equipment includes：
List memory, list and delete list are opened suitable for storage, and the unlatching list includes node to be detected, deletion row
Table includes the node deleted from list is opened.
First processor, suitable for judging whether the quantity of the array interior joint is less than predetermined value, if it is determined that saved in the array
The quantity of point is less than predetermined value, then the unlatching list is built up into doubly linked list；
Monitor, suitable for monitoring the array, the start node and destination node searched for acquisition approach, and starts section by described
Point adds the doubly linked list；
Second processor, the node suitable for deleting the doubly linked list gauge outfit, and the node for the doubly linked list gauge outfit deleted is added
Enter delete list；And
3rd processor, suitable for judging whether the node of deleted doubly linked list gauge outfit is destination node,
If the node of the doubly linked list gauge outfit of the deletion is destination node, continue to monitor the array,
If the node of the doubly linked list gauge outfit of the deletion is not destination node, the section of the doubly linked list gauge outfit of the deletion is obtained
The node of the predetermined condition is met around point, and the acquired node for meeting the predetermined condition is added into the Two-way Chain
Table；And
Indicate that second processor continues to delete the node of the doubly linked list gauge outfit, and by the node for the doubly linked list gauge outfit deleted
Add delete list,
Wherein, the operation for the acquired node for meeting predetermined condition being added into the doubly linked list includes：
The actual cost of each node in doubly linked list is recalculated, to update the evaluation function value of each node, the appraisal
Functional value is the estimate cost sum of the actual cost and node, and the estimate cost is directed along the node to target section
Mobile consumption figures after the node motion at the rectangular area edge between point,
The node of the doubly linked list is ranked up,
This is met into the node of the predetermined condition in insertion sort mode and is added to the doubly linked list.
6. route searching equipment as claimed in claim 5, the 3rd processor obtains the deletion according to following manner
The node of the predetermined condition is met around the node of doubly linked list gauge outfit：
Obtaining the node of the doubly linked list gauge outfit of the deletion can directly reach, be not belonging to the delete list and non-obstacle
Node.
7. route searching equipment as claimed in claim 5, the 3rd processor is further adapted for：
When it is determined that the node of the doubly linked list gauge outfit of the deletion is destination node, the node in the delete list is obtained
Take the shortest path between the start node and the destination node.
8. route searching equipment as claimed in claim 5, wherein the scope of the predetermined value is 1000.
9. a kind of computing terminal, including such as any one of claim 5-8 route searching equipment.
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| CN201710534025.3A CN107247805B (en) | 2014-12-02 | 2014-12-02 | Path searching method, device and computing terminal based on A-x algorithm |
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| CN201710534025.3A CN107247805B (en) | 2014-12-02 | 2014-12-02 | Path searching method, device and computing terminal based on A-x algorithm |
| CN201410720889.0A CN104462805B (en) | 2014-12-02 | 2014-12-02 | A kind of map road-seeking method based on A* algorithms, equipment and computing terminal |
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| CN201710534025.3A Active CN107247805B (en) | 2014-12-02 | 2014-12-02 | Path searching method, device and computing terminal based on A-x algorithm |
| CN201710555998.5A Pending CN107357581A (en) | 2014-12-02 | 2014-12-02 | A kind of game component and computing terminal |
| CN201410720889.0A Active CN104462805B (en) | 2014-12-02 | 2014-12-02 | A kind of map road-seeking method based on A* algorithms, equipment and computing terminal |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104462805B (en) | 2017-05-31 |
| CN107292107A (en) | 2017-10-24 |
| CN104462805A (en) | 2015-03-25 |
| CN107357581A (en) | 2017-11-17 |
| CN107247805B (en) | 2020-11-06 |
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