A* Example Newly generated node s, but OLD on OPEN has the same state.

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Presentation transcript:

A* Example Newly generated node s, but OLD on OPEN has the same state. Shortest path in Romania, but the goal is now Giurgiu, not Bucharest. Straight line distances to Giurgiu (I made them up) Arad 390 Sibiu 275 Fagaras 200 Rimnicu 205 Pitesi 125 Craiova 120 Bucharest 80 Drobeta 240

Goal is Giurgiu Arad 390 1 140 2 Sibiu 415 =140+275 Forget the other 2 99 80 Fagaras 439=239+200 Rimnicu 425=220+205 3 4 146 211 97 Bucharest 530=450+80 Pitesi 442=317+125 Craiova 486=366+120 5 6 OLD on OPEN 120 146 138 101 138 Bucharest 498=418+80 BETTER Craiova 575=455+120 WORSE Drobeta 726=486+240 Rimnicu 717=512+205 WORSE Pitesi 629=504+125 WORSE 7 8 90 85 Giurgiu 508=508+0 GOAL Urziceni etc

A* Example (abstract, pretend it’s time) Newly generated node s, but OLD on CLOSED has the same state. 1 A 5 6 2 4 B 9=5+4 C 16=6+10 3 4 8 2 OLD on CLOSED D 14=9+5 E 19=13+6 D 13=8+5 BETTER 10 10 F 24=19+5 G 24=19+5