A* 寻路算法找不到第二个目标

Question

我有一个程序，我想找到一个目标之间的距离，然后一个接一个地到终点。它可以找到第一个目标，但找不到第二个目标。

代码找到了目标，但随后开始在随机方向上搜索，就像 dijkstra 的那样。如果它访问结束节点，它会简单地覆盖它，就好像它是一个空节点一样。它也不会访问之前在算法的第一步中检查过的任何节点。任何帮助将不胜感激！

这里的算法代码：

def A_Star_algorithm(draw, grid, start, end, target_check, target):

    if not target:
        count = 0
        open_set = PriorityQueue()
        open_set.put((0, count, start))
        came_from = {}
        g_score = {node: float("inf") for row in grid for node in row}
        g_score[start] = 0
        f_score = {node: float("inf") for row in grid for node in row}
        f_score[start] = h(start.get_pos(), end.get_pos())
        
        open_set_hash = {start}
        
        while not open_set.empty():
            for event in pygame.event.get():
                if event.type == pygame.QUIT:
                    pygame.quit()
            current = open_set.get()[2]
            open_set_hash.remove(current)
            
            if current == end:
                reconstruct_path(came_from, end, draw, start)
                end.make_end()
                return True
            for neighbor in current.neighbors:
                temp_g_score = g_score[current] + 1
                
                if temp_g_score < g_score[neighbor]:
                    came_from[neighbor] = current
                    g_score[neighbor] = temp_g_score
                    f_score[neighbor] = temp_g_score + h(neighbor.get_pos(), end.get_pos())
                    if neighbor not in open_set_hash:
                        count += 1
                        open_set.put((f_score[neighbor], count, neighbor))
                        open_set_hash.add(neighbor)
                        neighbor.make_open()
            draw()
            if current != start:
                current.make_closed()
                
                
                
    elif target:
        count = 0
        open_set = PriorityQueue()
        open_set.put((0, count, start))
        came_from = {}
        g_score = {node: float("inf") for row in grid for node in row}
        g_score[start] = 0
        f_score = {node: float("inf") for row in grid for node in row}
        f_score[start] = h(start.get_pos(), target.get_pos())

        open_set_hash = {start}
        
        while not open_set.empty():
            for event in pygame.event.get():
                if event.type == pygame.QUIT:
                    pygame.quit()
            current = open_set.get()[2]
            open_set_hash.remove(current)

            if current == target:
                reconstruct_path(came_from, target, draw, start)
                target.make_target()
                open_set.queue.clear()
                
            for neighbor in current.neighbors:
                temp_g_score = g_score[current] + 1

                if temp_g_score < g_score[neighbor]:
                    came_from[neighbor] = current
                    g_score[neighbor] = temp_g_score
                    f_score[neighbor] = temp_g_score + h(neighbor.get_pos(), target.get_pos())
                    if neighbor not in open_set_hash:
                        count += 1
                        open_set.put((f_score[neighbor], count, neighbor))
                        open_set_hash.add(neighbor)
                        neighbor.make_open()
            draw()
            if current != start:
                current.make_closed()
                
        count = 0
        open_set = PriorityQueue()
        open_set.put((0, count, target))
        came_from = {}
        g_score = {node: float("inf") for row in grid for node in row}
        g_score[target] = 0
        f_score = {node: float("inf") for row in grid for node in row}
        f_score[target] = h(target.get_pos(), end.get_pos())
        open_set_hash.clear()
        open_set_hash = {target}
        
        while not open_set.empty():
            for event in pygame.event.get():
                if event.type == pygame.QUIT:
                    pygame.quit()
            current = open_set.get()[2]
            open_set_hash.remove(current2)
            
            if current == end:
                reconstruct_path(came_from, end, draw, target)
                end.make_end()
                return True
            for neighbor in current.neighbors:
                temp_g_score = g_score[current2] + 1

                if temp_g_score < g_score[neighbor]:
                    came_from[neighbor] = current2
                    g_score[neighbor] = temp_g_score
                    f_score[neighbor] = temp_g_score + h(neighbor.get_pos(), end.get_pos())
                    if neighbor not in open_set_hash:
                        count += 1
                        open_set.put((f_score[neighbor], count, neighbor))
                        open_set_hash.add(neighbor)
                        neighbor.make_open()
            draw()
            if current != target:
                current.make_closed()

return False