人工智能实验1——二维网格空间中绕障碍物的机器人

 

二维网格空间中绕障碍物的机器人

预先给定机器人的目标任务，刺激响应Agent通过感知简单二维世界中的信息，作出简单的动作决策。

挺简单的，就是老师给的PPT里的规则竟然是错的，折磨了我好久，ORZ...这里贴下修改后的规则，应该是对的

 

代码写得比较烂，算是学习的一个记录吧。。。

package net.MyTest;

import javax.swing.*;
import javax.swing.border.BevelBorder;
import javax.swing.border.SoftBevelBorder;
import javax.swing.plaf.basic.BasicInternalFrameTitlePane.MoveAction;
import javax.swing.text.StyledEditorKit.ForegroundAction;

import java.awt.*;
import java.awt.event.*;
import java.io.BufferedReader;
import java.io.FileReader;
import java.util.Random;
import java.util.Set;

class MyDrawPanel extends JPanel {
    
    public char[][] mazePaint = new char[100][100];
    public int m,n;
    
    Image robotA = new ImageIcon("robotA.jpg").getImage();
    
    public void paintComponent(Graphics g) {
        for(int i=0;i<m;i++)
            for(int j=0;j<n;j++){
                if(mazePaint[i][j] == '0'){
                    g.setColor(Color.white);//通路涂成白色
                    g.fillRect(j*26,i*26,26,26);
                }
                else if(mazePaint[i][j] == '1'){
                    g.setColor(Color.black);//障碍涂成黑色
                    g.fillRect(j*26,i*26,26,26);
                }
                else if(mazePaint[i][j] == '#'){//机器人上张小图片
                    g.drawImage(robotA,j*26,i*26,26,26,this);
                }
                
        }
    }

}

public class ShowWindow  {
    
    public static int ra1,ra2;
    public static char[][] mazeChar = new char[100][100];
    public static boolean[][] mazebool = new boolean[100][100];
    
    public static void MoveRobot(char robotIndex){//JAVA没有引用传递，555
        if(robotIndex == 'a'){
            if ( mazebool[ra1+1][ra2+1] && !mazebool[ra1+1][ra2]){
                mazeChar[ra1][ra2] = '0';
                mazeChar[ra1+1][ra2] = '#';//South
                ra1++;
                }
            else if (mazebool[ra1+1][ra2] && !mazebool[ra1][ra2-1]){
                mazeChar[ra1][ra2] = '0';
                mazeChar[ra1][ra2-1] = '#';//West
                ra2--;
                }
            else if (mazebool[ra1+1][ra2-1] && !mazebool[ra1][ra2-1]) {
                mazeChar[ra1][ra2] = '0';
                mazeChar[ra1][ra2-1] = '#';//West
                ra2--;
            }
            else if (mazebool[ra1][ra2-1] && !mazebool[ra1-1][ra2]) {
                mazeChar[ra1][ra2] = '0';
                mazeChar[ra1-1][ra2] = '#';//North
                ra1--;
            } 
            else if (mazebool[ra1-1][ra2-1] && !mazebool[ra1-1][ra2]) {
                mazeChar[ra1][ra2] = '0';
                mazeChar[ra1-1][ra2] = '#';//North
                ra1--;
            } 
            else if (mazebool[ra1-1][ra2] && !mazebool[ra1][ra2+1]) {
                mazeChar[ra1][ra2] = '0';
                mazeChar[ra1][ra2+1] = '#';//East
                ra2++;
            }
            else if (mazebool[ra1-1][ra2+1] && !mazebool[ra1][ra2+1]) {
                mazeChar[ra1][ra2] = '0';
                mazeChar[ra1][ra2+1] = '#';//East
                ra2++;
            }
            else if (mazebool[ra1][ra2+1] && !mazebool[ra1+1][ra2]) {
                mazeChar[ra1][ra2] = '0';
                mazeChar[ra1+1][ra2] = '#';//South
                ra1++;
            }
            else {
                mazeChar[ra1][ra2] = '0';
                mazeChar[ra1-1][ra2] = '#';//North
                ra1--;
            }
        }
        
    }

    public static void main (String[] args) {
 
        try {
            
            BufferedReader br = new BufferedReader(new FileReader("maze.txt"));
            int m = Integer.parseInt(br.readLine().trim()); 
            int n = Integer.parseInt(br.readLine().trim());
            int k = 0;
            
            while (k < m) {
                mazeChar[k] = br.readLine().trim().toCharArray();//get the maze
                k++;
            }
            //char array to boolean array
            for(int i = 0; i < m; i++)
                for(int j = 0;j< n;j++)
                    mazebool[i][j] = mazeChar[i][j] == '0'? false : true ;
            
            ra1 = Integer.parseInt(br.readLine().trim());//robot a 
            ra2 = Integer.parseInt(br.readLine().trim());
    
            mazeChar[ra1][ra2] = '#';
            br.close();
            
            JFrame frame = new JFrame();
            frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
           
            MyDrawPanel drawPanel = new MyDrawPanel();
            drawPanel.m = m;
            drawPanel.n = n;
            
            frame.getContentPane().add(BorderLayout.CENTER, drawPanel); 
            
            
            frame.setSize(420,420);
            frame.setVisible(true);
            
            while(true) {
                MoveRobot('a');
             
                for(int i=0;i<m;i++)
                    for(int j=0;j<n;j++)        
                            drawPanel.mazePaint[i][j] = mazeChar[i][j];            
                
                drawPanel.repaint();
                Thread.sleep(300);
            }
                      
        } catch (Exception e) {    
        }
       
    }
   
}

读入TXT文件时，会先读入地图的横纵大小，再读地图，1为障碍物，0为可走的路，外围有一圈围墙为1，
然后读入的是机器人A的坐标。

TXT示例：

13
16
1111111111111000
1000000000001000
1000000000001000
1000000000001000
1000000000001111
1001111110000001
1001100110000001
1001100110000001
1000000000001111
1000000000001000
1000001110001000
1000001010001000
1111111011111000
8
6

读完地图就放到二维数组里，然后每次机器人运动就修改二维数组里的标记，每次刷新二维数组都要重新绘图，

运行后看到的就是机器人绕着中间那个障碍转，转，转。。。