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

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：

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。