写出a*算法倒车入库程序

以下是一个使用 Python 实现的简单 A* 算法倒车入库的示例程序： ```python import heapq class Node: def __init__(self, x, y, cost, parent=None): self.x = x self.y = y self.cost = cost self.parent = parent def __lt__(self, other): return self.cost < other.cost # 计算两个节点之间的距离 def distance(node1, node2): return ((node1.x - node2.x) 2 + (node1.y - node2.y) 2) 0.5 # 检查节点是否在合法范围内 def is_valid(x, y, width, height): return 0 <= x < width and 0 <= y < height # 获取周围的邻居节点 def get_neighbors(node, width, height): neighbors = [] directions = [(0, -1), (0, 1), (-1, 0), (1, 0)] for dx, dy in directions: new_x = node.x + dx new_y = node.y + dy if is_valid(new_x, new_y, width, height): cost = 1 # 假设每个移动的代价为 1 neighbors.append(Node(new_x, new_y, node.cost + cost, node)) return neighbors # A* 算法 def a_star_search(start, goal, width, height): open_list = [] closed_set = set() heapq.heappush(open_list, start) while open_list: current = heapq.heappop(open_list) if current.x == goal.x and current.y == goal.y: path = [] while current: path.append((current.x, current.y)) current = current.parent return path[::-1] # 反转路径 closed_set.add((current.x, current.y)) neighbors = get_neighbors(current, width, height) for neighbor in neighbors: if (neighbor.x, neighbor.y) not in closed_set: heuristic = distance(neighbor, goal) neighbor.cost += heuristic if neighbor not in open_list: heapq.heappush(open_list, neighbor) return None # 未找到路径 # 示例用法 start = Node(0, 0, 0) goal = Node(5, 5, 0) width = 10 height = 10 path = a_star_search(start, goal, width, height) if path: print("倒车入库路径：", path) else: print("未找到倒车入库路径") # 额外注意点： # 1. 实际应用中，需要根据具体的车辆尺寸和车库环境进行更复杂的建模。 # 2. 调整代价计算方式以适应实际情况。 # 3. 考虑添加碰撞检测等功能以确保安全性。 ``` [2025-01-07 16:24:42 | AI写代码神器 | 681点数解答]