采用A*算法基于航点生成无碰撞路径模型的代码
时间: 2024-01-21 07:16:02 浏览: 26
以下是一个基于A*算法实现的航点生成无碰撞路径的示例代码,供参考:
```python
import math
import heapq
# 定义节点类
class Node:
def __init__(self, x, y):
self.x = x
self.y = y
self.parent = None
self.g = 0 # 起点到当前节点的距离
self.h = 0 # 当前节点到终点的估计距离
self.f = 0 # f = g + h
def __lt__(self, other):
return self.f < other.f
# 定义地图类
class Map:
def __init__(self, width, height):
self.width = width
self.height = height
self.obstacles = set() # 障碍物集合
def add_obstacle(self, x, y):
self.obstacles.add((x, y))
def is_obstacle(self, x, y):
return (x, y) in self.obstacles
def heuristic(self, node, goal):
# 曼哈顿距离作为估价函数
return abs(node.x - goal.x) + abs(node.y - goal.y)
def get_neighbors(self, node):
neighbors = []
for dx in [-1, 0, 1]:
for dy in [-1, 0, 1]:
if dx == 0 and dy == 0:
continue
x = node.x + dx
y = node.y + dy
if x >= 0 and x < self.width and y >= 0 and y < self.height and not self.is_obstacle(x, y):
neighbors.append(Node(x, y))
return neighbors
def find_path(self, start, goal):
# 初始化起点和终点节点
start_node = Node(*start)
goal_node = Node(*goal)
# 初始化open集合和closed集合
open_set = [start_node]
closed_set = set()
while open_set:
# 取出f值最小的节点
curr_node = heapq.heappop(open_set)
if curr_node == goal_node:
# 找到路径,返回路径航点
path = []
while curr_node:
path.append((curr_node.x, curr_node.y))
curr_node = curr_node.parent
return path[::-1]
# 将当前节点加入closed集合
closed_set.add(curr_node)
# 获取当前节点的邻居节点
neighbors = self.get_neighbors(curr_node)
for neighbor in neighbors:
if neighbor in closed_set:
continue
# 计算邻居节点的g值和h值
new_g = curr_node.g + 1
new_h = self.heuristic(neighbor, goal_node)
new_f = new_g + new_h
if neighbor in open_set:
# 如果邻居节点已在open集合中,比较原来的f值和新的f值
# 如果新的f值更小,则更新邻居节点的f值和parent指针
for node in open_set:
if node == neighbor:
if new_f < node.f:
node.g = new_g
node.h = new_h
node.f = new_f
node.parent = curr_node
heapq.heapify(open_set)
break
else:
# 如果邻居节点不在open集合中,加入open集合
neighbor.g = new_g
neighbor.h = new_h
neighbor.f = new_f
neighbor.parent = curr_node
heapq.heappush(open_set, neighbor)
# 没有找到路径,返回空列表
return []
# 示例用法
map = Map(10, 10)
map.add_obstacle(3, 4)
map.add_obstacle(3, 5)
map.add_obstacle(3, 6)
path = map.find_path((1, 1), (8, 8))
print(path)
```
上述代码实现了一个基于A*算法的航点生成无碰撞路径模型,其中`Map`类表示地图,`Node`类表示节点。`Map`类包含`add_obstacle()`方法添加障碍物,`is_obstacle()`方法判断一个节点是否是障碍物,`heuristic()`方法作为估价函数,`get_neighbors()`方法获取一个节点的邻居节点,以及`find_path()`方法找到从起点到终点的一条路径,并返回路径航点列表。
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