CBS算法的基本python完整代码

CBS (Conflict-Based Search)算法是一个用于多机器人路径规划的启发式搜索策略，它通过分解任务来管理和处理冲突。以下是基于Python的一个简单版本的CBS算法示例：

from heapq import heappush, heappop

class Node:
    def __init__(self, robot, state, cost):
        self.robot = robot
        self.state = state
        self.cost = cost
        self.conflicts = []

    def __lt__(self, other):
        return self.cost < other.cost

class CBS:
    def __init__(self, start_states, goal_conditions, conflict_solver):
        self.open = []
        self.closed = set()
        self.start_states = [Node(robot, s, 0) for robot, s in enumerate(start_states)]
        self.goal_conditions = goal_conditions
        self.conflict_solver = conflict_solver
        self.heuristic = lambda n: len(n.state)

    def search(self):
        while self.open:
            node = heappop(self.open)
            if self.goal(node):
                return self.generate_solution(node)
            self.expand(node)

    def expand(self, node):
        new_nodes = self.generate_children(node)
        for child in new_nodes:
            if child not in self.closed:
                self.closed.add(child)
                heappush(self.open, child)

    def generate_children(self, parent_node):
        children = []
        # 解决冲突并添加新状态
        for robot, action in self.conflict_solver(parent_node):
            child_state = parent_node.state.apply_action(robot, action)
            if child_state not in self.closed:
                child = Node(robot, child_state, parent_node.cost + 1)
                child.conflicts = parent_node.conflicts + [(parent_node.robot, action)]
                children.append(child)
        return children

    def goal(self, node):
        return all(self.goal_conditions(robot, node.state) for robot in range(len(node.state)))

    def generate_solution(self, node):
        solution = [(node.robot, node.state.current_path)]
        while node.parent:
            node = node.parent
            solution.insert(0, (node.robot, node.state.current_path))
        return solution

# 使用示例
def conflict_solver(node):
    # 在这里实现具体的冲突解决方案...
    pass

# 示例开始状态、结束条件等
start_states = [(robot_id, 'start') for robot_id in range(num_robots)]
goal_conditions = lambda r, s: s == 'end'

cbs = CBS(start_states, goal_conditions, conflict_solver)
solution = cbs.search()