Merge pull request #394 from lck6055/updated-branch

Added A* Algo in Python

Author: Pradeepsingh61

Python/algorithms/graph_algorithms/a_star.py

@@ -0,0 +1,122 @@
+"""
+Algorithm: A* (A-star) Search
+Description: Finds the shortest path between a start node and a goal node using 
+             g(n) (actual cost so far) + h(n) (heuristic).
+Time Complexity: O(E) in worst case
+Space Complexity: O(V)
+Author: Kashyap
+Date: 2025-10-04
+"""
+
+import heapq
+
+class Node:
+    def __init__(self, position, parent=None, g=0, h=0):
+        self.position = position  # (row, col)
+        self.parent = parent      # previous node in path
+        self.g = g                # cost from start
+        self.h = h                # heuristic (to goal)
+        self.f = g + h            # total cost
+
+    def __lt__(self, other):
+        return self.f < other.f   # needed for heapq priority
+
+def heuristic(a, b):
+    """Manhattan distance heuristic"""
+    return abs(a[0] - b[0]) + abs(a[1] - b[1])
+
+def a_star(grid, start, goal):
+    """
+    Perform A* search on a grid.
+    
+    Args:
+        grid (list[list[int]]): 0 = free cell, 1 = obstacle
+        start (tuple): (row, col) start position
+        goal (tuple): (row, col) goal position
+    
+    Returns:
+        path (list[tuple]): shortest path from start to goal
+    """
+    open_set = []
+    heapq.heappush(open_set, Node(start, None, 0, heuristic(start, goal)))
+    visited = set()
+
+    while open_set:
+        current = heapq.heappop(open_set)
+
+        if current.position == goal:
+            # Reconstruct path
+            path = []
+            while current:
+                path.append(current.position)
+                current = current.parent
+            return path[::-1]  # reverse path
+
+        visited.add(current.position)
+
+        # Explore neighbors (up, down, left, right)
+        directions = [(0,1), (0,-1), (1,0), (-1,0)]
+        for d in directions:
+            neighbor = (current.position[0] + d[0], current.position[1] + d[1])
+
+            # Skip if out of bounds or obstacle
+            if (0 <= neighbor[0] < len(grid) and
+                0 <= neighbor[1] < len(grid[0]) and
+                grid[neighbor[0]][neighbor[1]] == 0 and
+                neighbor not in visited):
+
+                g_cost = current.g + 1
+                h_cost = heuristic(neighbor, goal)
+                heapq.heappush(open_set, Node(neighbor, current, g_cost, h_cost))
+    
+    return None  # no path found
+
+
+# main func()
+if __name__ == "__main__":
+    # Test Case 1: Normal case
+    grid1 = [
+        [0, 1, 0, 0, 0],
+        [0, 1, 0, 1, 0],
+        [0, 0, 0, 1, 0],
+        [0, 1, 0, 0, 0],
+        [0, 0, 0, 1, 0]
+    ]
+    start1 = (0, 0)
+    goal1 = (4, 4)
+    path1 = a_star(grid1, start1, goal1)
+    print("Test Case 1 Path:", path1) # Expected: a valid path like [(0,0),(1,0),(2,0),(2,1),...(4,4)]
+
+    # Test Case 2: Blocked path
+    grid2 = [
+        [0, 1, 1],
+        [1, 1, 1],
+        [0, 0, 0]
+    ]
+    start2 = (0, 0)
+    goal2 = (2, 2)
+    path2 = a_star(grid2, start2, goal2)
+    print("Test Case 2 Path:", path2) # Expected: None (no path exists)
+
+    # Test Case 3: Start = Goal
+    grid3 = [
+        [0, 0],
+        [0, 0]
+    ]
+    start3 = (0, 0)
+    goal3 = (0, 0)
+    path3 = a_star(grid3, start3, goal3)
+    print("Test Case 3 Path:", path3) # Expected: [(0, 0)] (trivial path)
+
+    # Test Case 4: Larger grid with obstacles
+    grid4 = [
+        [0, 0, 0, 0, 0, 0],
+        [1, 1, 1, 1, 1, 0],
+        [0, 0, 0, 0, 0, 0],
+        [0, 1, 1, 1, 1, 1],
+        [0, 0, 0, 0, 0, 0]
+    ]
+    start4 = (0, 0)
+    goal4 = (4, 5)
+    path4 = a_star(grid4, start4, goal4)
+    print("Test Case 4 Path:", path4) # Expected: a valid path from top-left to bottom-right