一、A*算法介绍
A*算法最早可追溯到1968年,在IEEE Transactions on Systems Science and Cybernetics中的论文A Formal Basis for the Heuristic Determination of Minimum Cost Paths中首次提出。
https://blog.csdn.net/weixin_46204734/article/details/136790525
参考文献:
[1] Hart P E ,MEMBER,IEEE,et al.A Formal Basis for the Heuristic Determination of Minimum Cost Paths[J].IEEE Transactions on Systems Science and Cybernetics, 2007, 4(2):100-107.DOI:10.1109/TSSC.1968.300136.
[2] Hart P E , Nilsson N J , Raphael B .A Formal Basis for the Heuristic Determination of Minimum Cost Paths[J].IEEE Transactions on Systems Science & Cybernetics, 1972, 4(2):28-29.DOI:10.1145/1056777.1056779.
[2]张海涛,程荫杭.基于A*算法的全局路径搜索[J].微计算机信息, 2007(17):3.DOI:10.3969/j.issn.1008-0570.2007.17.095.
二、部分代码
import numpy as np
import matplotlib.pyplot as plt
show_animation = False
use_beam_search = False
use_iterative_deepening = False
use_dynamic_weighting = False
use_theta_star = False
use_jump_point = False
beam_capacity = 30
max_theta = 5
only_corners = False
max_corner = 5
w, epsilon, upper_bound_depth = 1, 4, 500
def draw_horizontal_line(start_x, start_y, length, o_x, o_y, o_dict):
for i in range(start_x, start_x + length):
for j in range(start_y, start_y + 2):
o_x.append(i)
o_y.append(j)
o_dict[(i, j)] = True
def draw_vertical_line(start_x, start_y, length, o_x, o_y, o_dict):
for i in range(start_x, start_x + 2):
for j in range(start_y, start_y + length):
o_x.append(i)
o_y.append(j)
o_dict[(i, j)] = True
def in_line_of_sight(obs_grid, x1, y1, x2, y2):
t = 0
while t <= 0.5:
xt = (1 - t) * x1 + t * x2
yt = (1 - t) * y1 + t * y2
if obs_grid[(int(xt), int(yt))]:
return False, None
xt = (1 - t) * x2 + t * x1
yt = (1 - t) * y2 + t * y1
if obs_grid[(int(xt), int(yt))]:
return False, None
t += 0.001
dist = np.linalg.norm(np.array([x1, y1] - np.array([x2, y2])))
return True, dist
三、部分结果
四、完整Python代码
见下方联系方式