JPS路径规划python
时间: 2023-09-07 13:14:50 浏览: 62
好的,关于 JPS 路径规划的 Python 实现,您可以参考以下代码:
```python
import heapq
def jps(graph, start, goal):
openSet = [(heuristic(start, goal), start)]
closedSet = set()
parentPointers = {}
gScore = {point: float('inf') for point in graph}
gScore[start] = 0
while openSet:
currentF, current = heapq.heappop(openSet)
if current == goal:
return reconstructPath(parentPointers, start, goal)
if current in closedSet:
continue
closedSet.add(current)
for neighbor in findNeighbors(graph, current):
tentativeGScore = gScore[current] + heuristic(current, neighbor)
if tentativeGScore < gScore[neighbor]:
parentPointers[neighbor] = current
gScore[neighbor] = tentativeGScore
f = tentativeGScore + heuristic(neighbor, goal)
heapq.heappush(openSet, (f, neighbor))
return None
def findNeighbors(graph, point):
neighbors = []
for direction in graph[point]:
current = point
while current in graph and direction in graph[current]:
current = [current[0] + direction[0], current[1] + direction[1]]
if not isValid(graph, current):
break
neighbors.append(tuple(current))
return neighbors
def isValid(graph, point):
return point in graph and graph[point]
def reconstructPath(parentPointers, start, goal):
path = [goal]
current = goal
while current != start:
current = parentPointers[current]
path.append(current)
return list(reversed(path))
def heuristic(point1, point2):
return abs(point1[0] - point2[0]) + abs(point1[1] - point2[1])
```
以上代码是一个基于 JPS(Jump Point Search)算法实现的 A* 路径规划器,可以用于解决 Python 语言下的路径规划问题。