给我一段路径追踪的代码
时间: 2023-04-10 07:01:34 浏览: 55
以下是一个简单的路径追踪代码示例:
```python
import numpy as np
# 定义起点和终点
start = np.array([0, 0])
end = np.array([10, 10])
# 定义障碍物
obstacles = [np.array([5, 5]), np.array([6, 6]), np.array([7, 7])]
# 定义步长和最大迭代次数
step_size = 1
max_iter = 1000
# 定义距离函数
def distance(p1, p2):
return np.sqrt(np.sum((p1 - p2) ** 2))
# 定义路径追踪函数
def path_planning(start, end, obstacles, step_size, max_iter):
path = [start]
for i in range(max_iter):
# 生成随机点
rand_point = np.random.rand(2) * 10
# 找到最近的点
min_dist = float('inf')
nearest_point = None
for p in path:
d = distance(p, rand_point)
if d < min_dist:
min_dist = d
nearest_point = p
# 生成新的点
new_point = nearest_point + step_size * (rand_point - nearest_point) / min_dist
# 判断新的点是否合法
if not any([distance(new_point, obs) < 1 for obs in obstacles]):
path.append(new_point)
# 判断是否到达终点
if distance(path[-1], end) < step_size:
path.append(end)
break
return path
# 调用路径追踪函数
path = path_planning(start, end, obstacles, step_size, max_iter)
# 输出路径
print(path)
```
这段代码实现了一个简单的路径追踪算法,可以在给定的起点和终点之间找到一条避开障碍物的路径。