Python 基于A*算法路径规划实现，采用欧氏距离进行计算，起点终点和路径障碍由用户输入，并根据用户输入自动调节地图大小，最后动态显示路径

下面是一个基于A*算法的Python路径规划示例，代码如下：

import heapq

def heuristic(a, b):
    # 欧氏距离
    return ((b[0] - a[0]) ** 2 + (b[1] - a[1]) ** 2) ** 0.5

def astar(array, start, goal):
    neighbors = [(0,1),(0,-1),(1,0),(-1,0),(1,1),(1,-1),(-1,1),(-1,-1)]

    close_set = set()
    came_from = {}
    gscore = {start:0}
    fscore = {start:heuristic(start, goal)}
    oheap = []

    heapq.heappush(oheap, (fscore[start], start))

    while oheap:

        current = heapq.heappop(oheap)[1]

        if current == goal:
            data = []
            while current in came_from:
                data.append(current)
                current = came_from[current]
            return data[::-1]

        close_set.add(current)
        for i, j in neighbors:
            neighbor = current[0] + i, current[1] + j
            tentative_g_score = gscore[current] + heuristic(current, neighbor)
            if 0 <= neighbor[0] < array.shape[0]:
                if 0 <= neighbor[1] < array.shape[1]:
                    if array[neighbor[0]][neighbor[1]] == 1:
                        continue
                else:
                    continue
            else:
                continue

            if neighbor in close_set and tentative_g_score >= gscore.get(neighbor, 0):
                continue

            if  tentative_g_score < gscore.get(neighbor, 0) or neighbor not in [i[1]for i in oheap]:
                came_from[neighbor] = current
                gscore[neighbor] = tentative_g_score
                fscore[neighbor] = tentative_g_score + heuristic(neighbor, goal)
                heapq.heappush(oheap, (fscore[neighbor], neighbor))

    return False

# 用户输入起点和终点坐标
start_point = tuple(map(int, input("请输入起点坐标，用逗号隔开：").split(",")))
end_point = tuple(map(int, input("请输入终点坐标，用逗号隔开：").split(",")))

# 用户输入障碍物坐标
obstacles = []
while True:
    obstacle_str = input("请输入障碍物坐标，用逗号隔开，输入q结束：")
    if obstacle_str == "q":
        break
    obstacles.append(tuple(map(int, obstacle_str.split(","))))

# 自动调节地图大小
max_x = max(start_point[0], end_point[0])
max_y = max(start_point[1], end_point[1])
for obstacle in obstacles:
    max_x = max(max_x, obstacle[0])
    max_y = max(max_y, obstacle[1])

# 创建地图
map = [[0]*(max_y+1) for i in range(max_x+1)]
for obstacle in obstacles:
    map[obstacle[0]][obstacle[1]] = 1

# 进行路径规划
path = astar(array=array.array('d', map), start=start_point, goal=end_point)

# 动态显示路径
for i in range(len(path)):
    map[path[i][0]][path[i][1]] = "x"
    for j in range(len(map[0])):
        if j == len(map[0])-1:
            print(map[i][j])
        else:
            print(map[i][j], end=', ')

使用方法：

1. 运行代码，根据提示输入起点、终点和障碍物坐标，输入q结束障碍物输入。
2. 程序会自动调节地图大小，并进行路径规划。
3. 最后会动态显示路径，路径用"x"表示。