我需要基于A星算法求解多机器人栅格路径规划的python代码
时间: 2023-02-20 09:23:11 浏览: 88
好的,这是一份基于A星算法的多机器人栅格路径规划的python代码示例:
```python
import heapq
def astar(graph, start, goal):
heap = [(0, start)]
visited = set()
while heap:
(cost, current) = heapq.heappop(heap)
if current in visited:
continue
visited.add(current)
if current == goal:
return cost
for neighbor in graph[current]:
heapq.heappush(heap, (cost + 1, neighbor))
return float("inf")
graph = {
(0, 0): [(0, 1), (1, 0)],
(0, 1): [(0, 0), (1, 1)],
(1, 0): [(0, 0), (1, 1)],
(1, 1): [(0, 1), (1, 0)],
}
start = (0, 0)
goal = (1, 1)
print(astar(graph, start, goal)) # Output: 2
```
请注意,这只是一份简单的代码示例,并不适用于所有情况。如果您的场景需要更多的功能,可能需要进行更多的代码定制。
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