路径规划算法实现

a. 全局路径规划

# 使用 A* 算法示例
class Node:
    def __init__(self, position, parent=None):
        self.position = position
        self.parent = parent
        self.g = 0
        self.h = 0
        self.f = 0

def astar(start, end, grid):
    open_list = []
    closed_list = []

    open_list.append(start)

    while open_list:
        current_node = open_list[0]
        current_index = 0
        for index, item in enumerate(open_list):
            if item.f < current_node.f:
                current_node = item
                current_index = index

        open_list.pop(current_index)
        closed_list.append(current_node)

        if current_node == end:
            path = []
            current = current_node
            while current is not None:
                path.append(current.position)
                current = current.parent
            return path[::-1]

        children = []
        for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
            node_position = (current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])
            if node_position[0] > (len(grid) - 1) or node_position[0] < 0 or node_position[1] > (len(grid[len(grid) - 1]) -1) or node_position[1] < 0:
                continue
            if grid[node_position[0]][node_position[1]] != 0:
                continue
            new_node = Node(node_position, current_node)
            children.append(new_node)

        for child in children:
            if child in closed_list:
                continue

            child.g = current_node.g + 1
            child.h = ((child.position[0] - end.position[0]) ** 2) + ((child.position[1] - end.position[1]) ** 2)
            child.f = child.g + child.h

            if child in open_list:
                if child.g > open_list[open_list.index(child)].g:
                    continue

            open_list.append(child)