作者:邬杨明
1 import numpy2 from pylab import *
3
4 # 定义一个含有障碍物的20×20的栅格地图5 # 10表示可通行点6 # 0表示障碍物7 # 7表示起点8 # 5表示终点9 map_grid = numpy.full((20, 20), int(10), dtype=numpy.int8)10 # print(map_grid)11 map_grid[3, 3:8] = 0
12 map_grid[3:10, 7] = 0
13 map_grid[10, 3:8] = 0
14 map_grid[17, 13:17] = 0
15 map_grid[10:17, 13] = 0
16 map_grid[10, 13:17] = 0
17 map_grid[5, 2] = 7
18 map_grid[15, 15] = 5
19 # 画出定义的栅格地图20
21 # plt.imshow(map_grid, cmap=plt.cm.hot, interpolation='nearest', vmin=0, vmax=10)22 # plt.colorbar()23 # xlim(-1, 20) # 设置x轴范围24 # ylim(-1, 20) # 设置y轴范围25 # my_x_ticks = numpy.arange(0, 20, 1)26 # my_y_ticks = numpy.arange(0, 20, 1)27 # plt.xticks(my_x_ticks)28 # plt.yticks(my_y_ticks)29 # plt.grid(True)30 # plt.show()31
32
33 class AStar(object):3