请给出基于A算法的路径规划程序代码，其中包含结果

好的，以下是基于A*算法的路径规划程序代码，使用Python语言实现：

import heapq

# 定义节点类
class Node:
    def __init__(self, x, y, g=0, h=0):
        self.x = x
        self.y = y
        self.g = g
        self.h = h
        self.parent = None

    def f(self):
        return self.g + self.h

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

    def __eq__(self, other):
        return self.x == other.x and self.y == other.y

# 定义地图类
class Map:
    def __init__(self, width, height, start, end, obstacles):
        self.width = width
        self.height = height
        self.start = start
        self.end = end
        self.obstacles = obstacles

    def in_map(self, node):
        return 0 <= node.x < self.width and 0 <= node.y < self.height

    def passable(self, node):
        return node not in self.obstacles

    def neighbors(self, node):
        x, y = node.x, node.y
        results = []
        for dx, dy in [(0, 1), (1, 0), (0, -1), (-1, 0)]:
            newx, newy = x + dx, y + dy
            new_node = Node(newx, newy)
            if self.in_map(new_node) and self.passable(new_node):
                results.append(new_node)
        return results

# 定义A*算法函数
def astar_search(map):
    start_node = map.start
    end_node = map.end

    open_list = [start_node]
    close_list = []

    while open_list:
        current_node = heapq.heappop(open_list)
        if current_node == end_node:
            path = []
            while current_node:
                path.append(current_node)
                current_node = current_node.parent
            return path[::-1]

        close_list.append(current_node)

        for neighbor in map.neighbors(current_node):
            if neighbor in close_list:
                continue

            new_g = current_node.g + 1
            if neighbor not in open_list:
                neighbor.h = heuristic(neighbor, end_node)
                open_list.append(neighbor)
            elif new_g >= neighbor.g:
                continue

            neighbor.g = new_g
            neighbor.parent = current_node

    return None

# 定义启发函数
def heuristic(node1, node2):
    return abs(node1.x - node2.x) + abs(node1.y - node2.y)

# 测试代码
if __name__ == '__main__':
    width = 10
    height = 10
    start_node = Node(0, 0)
    end_node = Node(9, 9)
    obstacles = [Node(2, 2), Node(3, 2), Node(4, 2), Node(5, 2), Node(6, 2),
                 Node(6, 3), Node(6, 4), Node(6, 5), Node(5, 5), Node(4, 5),
                 Node(3, 5), Node(2, 5)]
    map = Map(width, height, start_node, end_node, obstacles)

    path = astar_search(map)
    if path:
        print('->'.join(str(node.x) + ',' + str(node.y) for node in path))
    else:
        print('No path found.')

以上代码中，定义了Node类表示节点，定义了Map类表示地图，定义了astar_search函数表示A*算法，定义了heuristic函数表示启发函数。在测试代码中，定义了一个10*10的地图，起点为(0,0)，终点为(9,9)，障碍物为一些节点，最后调用astar_search函数求解最短路径，输出结果为起点到终点的最短路径。