针对上面这个代码，我想实现可以自主输入起点、终点和路径障碍应该改进，请给出改进后的代码

好的，根据你的需求，我改进了一下代码，让它可以让用户自主输入起点、终点和路径障碍。请看下面的代码：

import heapq

class Node:
    def __init__(self, position: tuple[int, int], parent=None):
        self.position = position
        self.parent = parent
        self.g = 0
        self.h = 0
        self.f = 0

    def __eq__(self, other):
        return self.position == other.position

    def __lt__(self, other):
        return self.f < other.f

def astar(maze, start, end):
    start_node = Node(start)
    end_node = Node(end)

    open_list = []
    closed_list = set()

    heapq.heappush(open_list, start_node)

    while open_list:
        current_node = heapq.heappop(open_list)
        closed_list.add(current_node)

        if current_node == end_node:
            path = []
            while current_node != start_node:
                path.append(current_node.position)
                current_node = current_node.parent
            path.append(start_node.position)
            return path[::-1]

        neighbors = [(0, 1), (0, -1), (1, 0), (-1, 0), (1, 1), (1, -1), (-1, 1), (-1, -1)]

        for neighbor in neighbors:
            neighbor_position = (current_node.position[0] + neighbor[0], current_node.position[1] + neighbor[1])

            if neighbor_position[0] > (len(maze) - 1) or neighbor_position[0] < 0 or neighbor_position[1] > (len(maze[len(maze)-1]) -1) or neighbor_position[1] < 0:
                continue

            if maze[neighbor_position[0]][neighbor_position[1]] != 0:
                continue

            neighbor_node = Node(neighbor_position, current_node)

            if neighbor_node in closed_list:
                continue

            neighbor_node.g = current_node.g + 1
            neighbor_node.h = ((neighbor_node.position[0] - end_node.position[0]) ** 2) + ((neighbor_node.position[1] - end_node.position[1]) ** 2)
            neighbor_node.f = neighbor_node.g + neighbor_node.h

            if add_to_open(open_list, neighbor_node):
                heapq.heappush(open_list, neighbor_node)

    return None

def add_to_open(open_list, neighbor_node):
    for node in open_list:
        if neighbor_node == node and neighbor_node.f >= node.f:
            return False
    return True

# 用户输入起点、终点和路径障碍
start_point = tuple(map(int, input("请输入起点坐标（如：1 1）：").split()))
end_point = tuple(map(int, input("请输入终点坐标（如：5 5）：").split()))
num_obstacles = int(input("请输入路径障碍的数量："))
obstacles = []
for i in range(num_obstacles):
    obstacle = tuple(map(int, input(f"请输入第{i+1}个路径障碍的坐标（如：3 4）：").split()))
    obstacles.append(obstacle)

# 生成地图
maze = [[0 for x in range(10)] for y in range(10)]
for obstacle in obstacles:
    maze[obstacle[0]][obstacle[1]] = 1

# 进行A*搜索
path = astar(maze, start_point, end_point)

# 输出结果
if path is None:
    print("没有找到路径")
else:
    print("路径为：")
    for pos in path:
        print(pos)

改进后的代码中，通过 `input()` 函数让用户输入起点、终点和路径障碍的坐标，然后根据输入的坐标生成地图。在搜索时，程序会先判断障碍物是否为0，如果不为0则跳过，这样就能实现用户自主输入路径障碍。