python无人机路径规划算法_快速拓展随机树（RRT)路径规划，python

1 """2 version1.1,2018-05-09

3 《基于智能优化与RRT算法的无人机任务规划方法研究》博士论文4 《基于改进人工势场法的路径规划算法研究》硕士论文5

6 """7

8 import matplotlib.pyplot asplt9 import random10 import math11 import copy12

13 show_animation =True14

15

16 class Node(object):17 """18 RRT Node19 """20

21 def __init__(self, x, y):22 self.x =x23 self.y =y24 self.parent =None25

26

27 class RRT(object):28 """29 Class forRRT Planning30 """31

32 def __init__(self, start, goal, obstacle_list, rand_area):33 """34 Setting Parameter35

36 start:Start Position [x,y]37 goal:Goal Position [x,y]38 obstacleList:obstacle Positions [[x,y,size],...]39 randArea:random sampling Area [min,max]40

41 """42 self.start = Node(start[0], start[1])43 self.end = Node(goal[0], goal[1])44 self.min_rand = r