A* 寻路数据结构

Question

我目前正在尝试按照当前的 A* 伪代码（来自维基百科）来编写我的 A* 算法：

function A*(start,goal)
    closedset := the empty set    // The set of nodes already evaluated.
    openset := {start}    // The set of tentative nodes to be evaluated, initially containing the start node
    came_from := the empty map    // The map of navigated nodes.

    g_score[start] := 0    // Cost from start along best known path.
    // Estimated total cost from start to goal through y.
    f_score[start] := g_score[start] + heuristic_cost_estimate(start, goal)

    while openset is not empty
        current := the node in openset having the lowest f_score[] value
        if current = goal
            return reconstruct_path(came_from, goal)

        remove current from openset
        add current to closedset
        for each neighbor in neighbor_nodes(current)
            if neighbor in closedset
                continue
            tentative_g_score := g_score[current] + dist_between(current,neighbor)

            if neighbor not in openset or tentative_g_score < g_score[neighbor] 
                came_from[neighbor] := current
                g_score[neighbor] := tentative_g_score
                f_score[neighbor] := g_score[neighbor] + heuristic_cost_estimate(neighbor, goal)
                if neighbor not in openset
                    add neighbor to openset

    return failure

function reconstruct_path(came_from,current)
    total_path := [current]
    while current in came_from:
        current := came_from[current]
        total_path.append(current)
    return total_path

我分别为开放集和封闭集使用 PriorityQueue，但是我不确定将什么用于导航节点的 "came_from" 映射。有关系吗？我也应该使用优先队列吗？还是一个简单的列表就可以？

谢谢！

Answer 1

我最终使用了 C# 字典数据结构，它运行良好，如果有人感兴趣的话。