python中A*规划中的移动
在python中,我很难让代码中的明星从开始位置移动到结束位置。我不是在寻找他们确切的答案,只是想得到一些帮助,让我朝着正确的方向前进。我还想知道如何设置代码,从五个设置网格中选择一个,并允许您选择开始和结束路径。如果我让它随机生成一个数字,我是否能够对网格使用if语句。然后使用与if语句对应的网格python中A*规划中的移动,python,a-star,Python,A Star,在python中,我很难让代码中的明星从开始位置移动到结束位置。我不是在寻找他们确切的答案,只是想得到一些帮助,让我朝着正确的方向前进。我还想知道如何设置代码,从五个设置网格中选择一个,并允许您选择开始和结束路径。如果我让它随机生成一个数字,我是否能够对网格使用if语句。然后使用与if语句对应的网格 import numpy as np import heapq import numpy as np import matplotlib.pyplot as plt from matplotlib.
import numpy as np
import heapq
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.pyplot import figure
# creating a square grid
grid = np.array([
[0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0],
[0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]])
# start point and goal
start = (0, 0)
goal = (10, 15)
# plot map and path
fig, ax = plt.subplots(figsize=(12, 12))
ax.imshow(grid, cmap=plt.cm.Dark2)
ax.scatter(start[1], start[0], marker="*", color="yellow", s=200)
ax.scatter(goal[1], goal[0], marker="*", color="red", s=200)
plt.show()
# define Heuristic function
def heuristic(a, b):
return np.sqrt((b[0] - a[0]) ** 2 + (b[1] - a[1]) ** 2)
# define A-star function
def astar(array, start, goal):
neighbors = [(0, 1), (0, -1), (1, 0), (-1, 0), (1, 1), (1, -1), (-1, 1), (-1, -1)]
close_set = set()
came_from = {}
gscore = {start: 0}
fscore = {start: heuristic(start, goal)}
oheap = []
heapq.heappush(oheap, (fscore[start], start))
while oheap:
current = heapq.heappop(oheap)[1]
if current == goal:
data = []
while current in came_from:
data.append(current)
current = came_from[current]
return data
close_set.add(current)
for i, j in neighbors:
neighbor = current[0] + i, current[1] + j
tentative_g_score = gscore[current] + heuristic(current, neighbor)
if 0 <= neighbor[0] < array.shape[0]:
if 0 <= neighbor[1] < array.shape[1]:
if array[neighbor[0]][neighbor[1]] == 1:
continue
else:
# array bound y walls
continue
else:
# array bound x walls
continue
if neighbor in close_set and tentative_g_score >= gscore.get(neighbor, 0):
continue
if tentative_g_score < gscore.get(neighbor, 0) or neighbor not in [i[1] for i in oheap]:
came_from[neighbor] = current
gscore[neighbor] = tentative_g_score
fscore[neighbor] = tentative_g_score + heuristic(neighbor, goal)
heapq.heappush(oheap, (fscore[neighbor], neighbor))
# creating route
route = astar(grid, start, goal)
# add the start position
route = route + [start]
# reverse the backward sequence
route = route[::-1]
# print route
print(route)
# extract x and y coordinates from route list
x_coords = []
y_coords = []
for i in(range(0,len(route))):
x = route[i][0]
y = route[i][1]
x_coords.append(x)
y_coords.append(y)
#plot map and path
fig, ax = plt.subplots(figsize=(20,20))
ax.imshow(grid, cmap=plt.cm.Dark2)
ax.scatter(start[1],start[0], marker ="*", color ="yellow", s = 200)
ax.scatter(goal[1],goal[0], marker ="*", color ="red", s = 200)
ax.plot(y_coords,x_coords, color ="black")
plt.show()
将numpy导入为np
进口heapq
将numpy作为np导入
将matplotlib.pyplot作为plt导入
从matplotlib.pyplot导入图
#创建方形网格
grid=np.array([
[0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0],
[0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]])
#起点和目标
开始=(0,0)
目标=(10,15)
#绘图和路径
图,ax=plt.子批次(图尺寸=(12,12))
ax.imshow(网格,cmap=plt.cm.Dark2)
最大散布(开始[1],开始[0],标记=“*”,颜色=“黄色”,s=200)
最大散布(目标[1],目标[0],标记=“*”,颜色=“红色”,s=200)
plt.show()
#定义启发式函数
def启发式(a,b):
返回np.sqrt((b[0]-a[0])**2+(b[1]-a[1])**2)
#定义A星函数
def astar(阵列、开始、目标):
邻域=[(0,1),(0,-1),(1,0),(-1,0),(1,1),(1,-1),(-1,1),(-1,-1)]
关闭集合=集合()
来自={}
gscore={start:0}
fscore={开始:启发式(开始,目标)}
oheap=[]
heapq.heappush(oheap,(fscore[start],start))
而oheap:
电流=heapq.heappop(oheap)[1]
如果当前==目标:
数据=[]
当电流从以下位置进入时:
data.append(当前)
当前=来自[当前]
返回数据
关闭集合。添加(当前)
对于邻居中的i,j:
邻居=电流[0]+i,电流[1]+j
暂定分数=gscore[当前]+启发式(当前,邻居)
如果0