A*算法伪代码

Question

我从维基百科找到了伪代码

function A*(start, goal)
    // The set of nodes already evaluated.
    closedSet := {}
    // The set of currently discovered nodes still to be evaluated.
    // Initially, only the start node is known.
    openSet := {start}
    // For each node, which node it can most efficiently be reached from.
    // If a node can be reached from many nodes, cameFrom will eventually contain the
    // most efficient previous step.
    cameFrom := the empty map

    // For each node, the cost of getting from the start node to that node.
    gScore := map with default value of Infinity
    // The cost of going from start to start is zero.
    gScore[start] := 0 
    // For each node, the total cost of getting from the start node to the goal
    // by passing by that node. That value is partly known, partly heuristic.
    fScore := map with default value of Infinity
    // For the first node, that value is completely heuristic.
    fScore[start] := heuristic_cost_estimate(start, goal)

    while openSet is not empty
        current := the node in openSet having the lowest fScore[] value
        if current = goal
            return reconstruct_path(cameFrom, current)

        openSet.Remove(current)
        closedSet.Add(current)
        for each neighbor of current
            if neighbor in closedSet
                continue        // Ignore the neighbor which is already evaluated.
            // The distance from start to a neighbor
            tentative_gScore := gScore[current] + dist_between(current, neighbor)
            if neighbor not in openSet  // Discover a new node
                openSet.Add(neighbor)
            else if tentative_gScore >= gScore[neighbor]
                continue        // This is not a better path.

            // This path is the best until now. Record it!
            cameFrom[neighbor] := current
            gScore[neighbor] := tentative_gScore
            fScore[neighbor] := gScore[neighbor] + heuristic_cost_estimate(neighbor, goal)

    return failure

function reconstruct_path(cameFrom, current)
    ....

但是我还是不明白，什么是heuristic_cost_estimate()?
伪代码没有显示函数是什么。

在我看来，它是其他算法，如 dijkstra，我说得对吗？

Answer 1

该函数将 return 一个用于做出决定的启发式值。在 A* 中，它通常是当前节点和最后一个节点之间的最短直线距离，因此函数似乎只是计算两个给定节点之间的距离（直线，不使用路径）。

Answer 2

启发式必须给出实际成本的下限。 returned 值小于或等于实际最小成本很重要，否则算法无法正常工作。

任何满足此要求的估算都可以。即使是 return 0 的最简单选择也始终有效。但是，估计得越好，算法的性能就越好。

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