多机器人螺旋生成树算法 python

多机器人螺旋生成树算法（Multi-Robot Spiral Spanning Tree Algorithm）是一种分布式算法，用于多个机器人在未知环境中构建最小生成树。以下是一些 Python 代码示例：

import rospy
from geometry_msgs.msg import Twist
from nav_msgs.msg import Odometry
from std_msgs.msg import String
import math

class Robot:
    def __init__(self, robot_name):
        self.name = robot_name
        self.position = [0, 0]
        self.neighbors = []
        self.parent = None
        self.children = []
        self.visited = False
        self.pub = rospy.Publisher(robot_name + '/cmd_vel', Twist, queue_size=10)
        self.sub = rospy.Subscriber(robot_name + '/odom', Odometry, self.update_position)

    def update_position(self, msg):
        x = msg.pose.pose.position.x
        y = msg.pose.pose.position.y
        self.position = [x, y]

    def move(self, direction):
        vel_msg = Twist()
        vel_msg.linear.x = 0.5
        vel_msg.angular.z = direction
        self.pub.publish(vel_msg)

    def stop(self):
        vel_msg = Twist()
        self.pub.publish(vel_msg)

    def add_neighbor(self, neighbor):
        self.neighbors.append(neighbor)

    def set_parent(self, parent):
        self.parent = parent

    def add_child(self, child):
        self.children.append(child)

    def set_visited(self, visited):
        self.visited = visited

def distance(p1, p2):
    return math.sqrt((p1[0]-p2[0])**2 + (p1[1]-p2[1])**2)

def get_closest_neighbor(robot, robots):
    closest_neighbor = None
    closest_distance = float('inf')
    for neighbor in robot.neighbors:
        if not neighbor.visited:
            d = distance(robot.position, neighbor.position)
            if d < closest_distance:
                closest_distance = d
                closest_neighbor = neighbor
    return closest_neighbor

def get_direction(robot, destination):
    dx = destination[0] - robot.position[0]
    dy = destination[1] - robot.position[1]
    return math.atan2(dy, dx)

def move_to(robot, destination):
    direction = get_direction(robot, destination)
    robot.move(direction)
    while distance(robot.position, destination) > 0.1:
        rospy.sleep(0.1)
    robot.stop()

def spiral(robot, robots, level):
    robot.set_visited(True)
    if level == 0:
        return
    for i in range(level):
        move_to(robot, [robot.position[0] + i, robot.position[1]])
        neighbor = get_closest_neighbor(robot, robots)
        if neighbor:
            robot.add_child(neighbor)
            neighbor.set_parent(robot)
            spiral(neighbor, robots, level-1)

if __name__ == '__main__':
    rospy.init_node('multi_robot_spiral')

    robots = []
    for i in range(5):
        robot = Robot('robot' + str(i))
        robots.append(robot)

    for i in range(5):
        for j in range(i+1, 5):
            robots[i].add_neighbor(robots[j])
            robots[j].add_neighbor(robots[i])

    root = robots[0]
    spiral(root, robots, 4)

    for robot in robots:
        parent = robot.parent
        if parent:
            print(robot.name + ' -> ' + parent.name)

这段代码创建了 5 个机器人，并在它们之间建立了邻居关系。然后，从第一个机器人开始，沿着螺旋路径移动，直到达到最小生成树的根节点。最后，打印出每个机器人的父节点。