資料EA*路徑規(guī)劃算例importheapqimportmatplotlib.pyplotasplt#定義節(jié)點(diǎn)類classNode:def__init__(self,x,y):self.x=xself.y=yself.g=0#起始點(diǎn)到當(dāng)前節(jié)點(diǎn)的實(shí)際代價(jià)self.h=0#當(dāng)前節(jié)點(diǎn)到目標(biāo)節(jié)點(diǎn)的預(yù)計(jì)代價(jià)self.f=0#f=g+hself.parent=None#計(jì)算啟發(fā)式評估值（這里簡化為曼哈頓距離）defheuristic(node,goal):returnabs(node.x-goal.x)+abs(node.y-goal.y)#A*路徑規(guī)劃算法defastar_pathfinding(start,goal,obstacles):open_set=[]#待探索節(jié)點(diǎn)列表closed_set=set()#已探索節(jié)點(diǎn)集合heapq.heappush(open_set,(0,start))#使用堆來維護(hù)opensetwhileopen_set:current=heapq.heappop(open_set)[1]ifcurrent==goal:path=[]whilecurrent.parent:path.append((current.x,current.y))current=current.parentpath.append((start.x,start.y))returnpath[::-1]#返回反向路徑closed_set.add(current)fordx,dyin[(0,1),(0,-1),(1,0),(-1,0)]:#四個(gè)方向移動(dòng)new_x,new_y=current.x+dx,current.y+dyif(new_x,new_y)inobstacles:#如果是障礙物，跳過continueneighbor=Node(new_x,new_y)neighbor.g=current.g+1neighbor.h=heuristic(neighbor,goal)neighbor.f=neighbor.g+neighbor.hneighbor.parent=currentifneighborinclosed_set:#已探索過的節(jié)點(diǎn)，跳過continueheapq.heappush(open_set,(neighbor.f,neighbor))#加入待探索節(jié)點(diǎn)列表return[]#未找到有效路徑#可視化展示defvisualize_path(start,goal,obstacles,path):plt.figure(figsize=(8,8))forobsinobstacles:plt.scatter(obs[0],obs[1],color='black',s=200,marker='s')plt.scatter(start.x,start.y,color='green',s=200,marker='o',label='Start')plt.scatter(goal.x,goal.y,color='red',s=200,marker='o',label='Goal')ifpath:path_x,path_y=zip(*path)plt.plot(path_x,path_y,linestyle='-',color='blue',linewidth=3,label='Path')plt.xlabel('X-axis')plt.ylabel('Y-axis')plt.title('A*PathfindingVisualization')plt.legend()plt.grid(True)plt.show()#使用示例start_node=Node(0,0)goal_node=Node(5,5)obstacles={(2,2),(3,3),(3,4)}#障礙物坐標(biāo)集合path=astar_pathfinding(start_node,goal_node,obstacles)print("找到的路徑：",path)visualize_path(start_node,goal_node,obstacles,path)說明：Python編寫的A*路徑規(guī)劃算例。這段代碼使用了A*算法找到起點(diǎn)到終點(diǎn)的最短路徑，并通過matplotlib庫進(jìn)行可視化展示，展示了起點(diǎn)、終點(diǎn)、障礙物以及找到的路徑?？梢愿鶕?jù)實(shí)際需要修改起點(diǎn)、終點(diǎn)和障礙物的位置，并查看不同條件下的路徑規(guī)劃結(jié)果。環(huán)境配置要求:P