请给出一个机器人路径规划的可行代码
时间: 2024-05-07 15:22:55 浏览: 6
以下是一个基于A*算法的机器人路径规划代码示例(使用Python语言):
```python
from queue import PriorityQueue
class Node:
def __init__(self, x, y, parent=None):
self.x = x
self.y = y
self.parent = parent
self.g = 0
self.h = 0
def __eq__(self, other):
return self.x == other.x and self.y == other.y
def __lt__(self, other):
return self.g + self.h < other.g + other.h
def get_neighbors(node, obstacles, width, height):
neighbors = []
for dx in range(-1, 2):
for dy in range(-1, 2):
if dx == 0 and dy == 0:
continue
x = node.x + dx
y = node.y + dy
if not (0 <= x < width and 0 <= y < height):
continue
if (x, y) in obstacles:
continue
neighbors.append(Node(x, y))
return neighbors
def heuristic(node, goal):
return abs(node.x - goal.x) + abs(node.y - goal.y)
def a_star(start, goal, obstacles, width, height):
open_list = PriorityQueue()
closed_list = set()
start.g = 0
start.h = heuristic(start, goal)
open_list.put(start)
while not open_list.empty():
current_node = open_list.get()
if current_node == goal:
path = []
while current_node is not None:
path.append((current_node.x, current_node.y))
current_node = current_node.parent
return path[::-1]
closed_list.add(current_node)
for neighbor in get_neighbors(current_node, obstacles, width, height):
if neighbor in closed_list:
continue
tentative_g_score = current_node.g + 1
if neighbor not in open_list.queue or tentative_g_score < neighbor.g:
neighbor.parent = current_node
neighbor.g = tentative_g_score
neighbor.h = heuristic(neighbor, goal)
if neighbor not in open_list.queue:
open_list.put(neighbor)
return None
# 示例使用
start = Node(0, 0)
goal = Node(5, 5)
obstacles = [(1, 1), (2, 2), (3, 3)]
width = 6
height = 6
path = a_star(start, goal, obstacles, width, height)
print(path)
```
该代码实现了一个简单的二维平面机器人路径规划功能,输入机器人起点、终点、障碍物列表、平面宽度和高度,输出一条可行的路径。其中使用了优先队列来实现A*算法,使用曼哈顿距离作为启发函数。在实际应用中,还需要考虑更多的因素,例如机器人速度、转弯半径、动态障碍物等。