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AIprojectAstar.py
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AIprojectAstar.py
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import queue as q
import math as m
import random
# let there be 7 nodes
# distance of each node
# from each other is given
# along with max speed limit
# on each path.
# the amount of traffic between
# each path will be entered during
# the runtime and time for travesal
# of each node will be calculated by
# algo and path taking least time will
# be returned
# distance in meters
graph=[[0,1100,0,0,1800,0,0],
[1100,0,1500,0,0,0,0],
[0,1500,0,900,700,0,1700],
[0,0,900,0,400,1000,0],
[1800,0,700,400,0,0,0],
[0,0,0,1000,0,0,200],
[0,0,1700,0,0,200,0]]
#Function to calculate time in seconds to travel from a node to another on basis on speed limit on each road
def time():
for i in range(0,len(graph[0])):
for j in range(0,len(graph[0])):
if(graph[i][j]!=0):
temp=graph[i][j]/speedlimit(i,j)
graph[i][j]=temp
# speedlimit on each road in metre per sec
def speedlimit(a,b):
h={(0,1):80,(1,0):80,(0,4):60,(4,0):60,
(1,2):50,(2,1):50,
(2,3):45,(3,2):45,(2,4):30,(4,2):30,
(2,6):90,(6,2):90,
(3,4):15,(4,3):15,(3,5):50,(5,3):50,
(5,6):10,(6,5):10}
return h[(a,b)]
#heuristic based on distance of current node from goal node
def heuristic(state):
list1=coordinate(state)
list2=coordinate(goal)
temphue=m.sqrt((list1[0]-list2[0])**2+(list1[1]-list2[1])**2)
return temphue
#coordinates of each node
def coordinate(state):
list=[[0,0],[8,6],[22,7],[15,12],[15.7,8.5],[6,8],[5,7]]
return list[state]
#taking input from user starting and goal node
start=int(input('enter the starting node(0 indexed):-'))
goal=int(input('enter the goal node(0 indexed):-'))
#checking the validation of the input
if(not (start>=0 and start<len(graph[0])) or not (goal>=0 and goal<len(graph[0]))):
exit("#######################################################WRONG START OR GOAL NODE#######################################################")
time()
#taking the input of time delay in seconds due to traffic on each road
# def trafficinput():
# for i in range(0,len(graph[0])):
# for j in range(0,len(graph[0])):
# if(graph[i][j]!=0 and i<=j):
# print("enter the time delay due to traffic between road",i,"and",j)
# temp=int(input())
# graph[i][j]+=temp
# graph[j][i]+=temp
def trafficinput():
for i in range(0,len(graph[0])):
for j in range(0,len(graph[0])):
if(graph[i][j]!=0 and i<=j):
temp=random.randint(0,100)
print("enter the time delay due to traffic between road",i+1,"and",j+1,"=",temp)
graph[i][j]+=temp
graph[j][i]+=temp
trafficinput()
open=q.PriorityQueue()
closed=q.PriorityQueue()
visited=[start]
cl=[]
open.put([graph[start][start]+heuristic(start),graph[start][start],start,None])
#implimenting A*
def astar():
while not open.empty():
temp=open.get()
visited.remove(temp[2])
closed.put(temp)
cl.append(temp[2])
if temp[2]==goal:
print('#######################################################SUCCESS#######################################################')
resultlist(closed,temp[3],goal)
return
else:
list=[i for i in range(0,len(graph[0])) if graph[temp[2]][i]!=0]
for next in list:
cost=temp[1]+graph[temp[2]][next]
fn=cost+heuristic(next)
if next not in visited and next not in cl:
open.put([fn,cost,next,temp[2]])
visited.append(next)
if next in visited:
updateopen(next,fn,cost,temp[2])
if next in cl:
updateclosed(next,fn,cost,temp[2])
def updateopen(next,fn,cost,parent):
temp=open.get()
if temp[2]==next:
if cost<temp[1]:
open.put([fn,cost,next,parent])
else:
open.put(temp)
return
updateopen(next,fn,cost,parent)
open.put(temp)
def updateclosed(next,fn,cost,parent):
templist=[]
while 1:
temp=closed.get()
if temp[2]==next:
if cost<temp[1]:
closed.put([fn,cost,next,parent])
for i in templist:
closed.put(i)
propogateimprovement(temp[2],cost)
else:
closed.put(temp)
for i in templist:
closed.put(i)
break
else:
templist.append(temp)
def propogateimprovement(next,cost):
list=(i for i in range(0,len(graph[0])) if graph[next][i]!=0)
for each in list:
costnew=cost+graph[next][each]
fnnew=costnew+heuristic(each)
if each in visited:
updateopen(each,fnnew,costnew,next)
if each in cl:
updateclosed(each,fnnew,costnew,next)
def resultlist(closed,parent,goal):
result=[]
while not closed.empty():
temp=closed.get()
result.append(temp)
print("Time =",result[len(result)-1][1])
print("Path to take to reach your destination from current node:-")
pathgenerator(result,parent,goal)
#generating path from start to goal node
def pathgenerator(closed,parent,goal):
if parent==None:
print('->',goal)
return
for i in closed:
if i[2]==goal:
for j in closed:
if j[2]==i[3]:
pathgenerator(closed,j[3],j[2])
print('->',i[2])
return
astar()