A星算法是一种用于解决路径规划问题的算法,它可以用于单机器人和多机器人的情况。下面是一段使用 Python 实现多机器人路径规划的代码示例:
``` import heapq import numpy as np
def a_star(grid, start, goal, robot_starts, robot_goals): def heuristic(position, goal): # 计算启发函数(曼哈顿距离) return np.abs(position[0] - goal[0]) + np.abs(position[1] - goal[1])
def get_neighbors(position, grid):
# 获取当前位置的邻居
row, col = position
neighbors = []
if row > 0 and grid[