生成栅格地图数据集的代码

以下是生成栅格地图数据集的Python代码示例：

import numpy as np
import random

# 设置栅格地图大小
MAP_WIDTH = 10
MAP_HEIGHT = 10

# 随机生成障碍物
def generate_obstacle():
    obstacle_map = np.zeros([MAP_HEIGHT, MAP_WIDTH])
    for i in range(MAP_HEIGHT):
        for j in range(MAP_WIDTH):
            if random.random() < 0.3:
                obstacle_map[i][j] = 1
    return obstacle_map

# 生成起点和终点
def generate_start_goal(obstacle_map):
    start = None
    goal = None
    while start is None:
        x = random.randint(0, MAP_WIDTH-1)
        y = random.randint(0, MAP_HEIGHT-1)
        if obstacle_map[y][x] == 0:
            start = (x, y)
    while goal is None:
        x = random.randint(0, MAP_WIDTH-1)
        y = random.randint(0, MAP_HEIGHT-1)
        if obstacle_map[y][x] == 0:
            goal = (x, y)
    return start, goal

# 生成栅格地图数据集
def generate_dataset(size):
    dataset = []
    for i in range(size):
        obstacle_map = generate_obstacle()
        start, goal = generate_start_goal(obstacle_map)
        dataset.append((obstacle_map, start, goal))
    return dataset

# 测试生成的数据
dataset = generate_dataset(10)
for i in range(len(dataset)):
    print("Obstacle Map:\n", dataset[i][0])
    print("Start Position:", dataset[i][1])
    print("Goal Position:", dataset[i][2])
    print("------------------------")

以上代码将生成一个大小为10的数据集，包含10个栅格地图数据，每个数据包含随机生成的障碍物、起点和终点。你可以根据需求更改地图大小、障碍物密度和数据集大小。