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weixin_46229132 2025-05-04 21:32:13 +08:00
parent b626f667d9
commit 1833258f34
1 changed files with 24 additions and 20 deletions
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44
navigate.py
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@ -1,15 +1,5 @@
import heapq import heapq
# 停车场状态矩阵
parking_lot = [
[3, 2, 2, 0, 2, 2, 2],
[3, 1, 1, 0, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 0]
]
# 起点和终点（行, 列）
start = (0, 3)
goal = (1, 1)
# 可行走的位置（即值为0，或目标位置） # 可行走的位置（即值为0，或目标位置）
def is_walkable(pos): def is_walkable(pos):
@ -18,10 +8,12 @@ def is_walkable(pos):
return parking_lot[r][c] == 0 or pos == goal return parking_lot[r][c] == 0 or pos == goal
return False return False
# 曼哈顿距离作为启发函数 # 曼哈顿距离作为启发函数
def heuristic(a, b): def heuristic(a, b):
return abs(a[0] - b[0]) + abs(a[1] - b[1]) return abs(a[0] - b[0]) + abs(a[1] - b[1])
# A*搜索 # A*搜索
def a_star(start, goal): def a_star(start, goal):
open_set = [] open_set = []
@ -41,7 +33,7 @@ def a_star(start, goal):
return path[::-1] # 反转 return path[::-1] # 反转
# 邻接节点（上下左右） # 邻接节点（上下左右）
for dr, dc in [(-1,0), (1,0), (0,-1), (0,1)]: for dr, dc in [(-1, 0), (1, 0), (0, -1), (0, 1)]:
neighbor = (current[0] + dr, current[1] + dc) neighbor = (current[0] + dr, current[1] + dc)
if not is_walkable(neighbor): if not is_walkable(neighbor):
@ -56,13 +48,25 @@ def a_star(start, goal):
return None # 找不到路径 return None # 找不到路径
# 执行 A* 路径搜索
path = a_star(start, goal)
# 输出结果 if __name__ == "__main__":
if path: # 停车场状态矩阵
print("找到路径:") parking_lot = [
for step in path: [3, 2, 2, 0, 2, 2, 2],
print(step) [3, 1, 1, 0, 1, 1, 1],
else: [0, 0, 0, 0, 0, 0, 0]
print("找不到路径。") ]
# 起点和终点（行, 列）
start = (0, 3)
goal = (1, 1)
# 执行 A* 路径搜索
path = a_star(start, goal)
# 输出结果
if path:
print("找到路径:")
for step in path:
print(step)
else:
print("找不到路径。")