├── .gitignore ├── LICENSE ├── README.md ├── README_image ├── image-20210412164707624.png ├── image-20210412164923482.png ├── image-20210412164954589.png ├── image-20210413000012195.png ├── image-20210413000044766.png ├── image-20210413090934882.png ├── image-20210413092642740.png ├── image-20210413094518887.png ├── image-20210413152325940.png ├── image-20210413152449797.png ├── image-20210413152646004.png ├── image-20210413152801304.png ├── image-20210413152855198.png ├── image-20210413153548200.png ├── image-20210413154016518.png ├── image-20210413154320967.png ├── image-20210413154459927.png ├── image-20210413154609073.png ├── image-20210413154733328.png ├── image-20210413154750230.png ├── image-20210413154854911.png ├── image-20210413155013934.png ├── image-20210414093516055.png ├── image-20210414095631207.png ├── image-20210502133419823.png ├── image-20210502134034568.png ├── image-20210502141701795.png ├── image-20210502142330915.png ├── image-20210502142749636.png ├── oCam_2021_06_01_14_52_25_742.gif ├── oCam_2021_06_01_15_07_19_417.gif └── time.png ├── log.md ├── main.py └── requirements.txt /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | pip-wheel-metadata/ 24 | share/python-wheels/ 25 | *.egg-info/ 26 | .installed.cfg 27 | *.egg 28 | MANIFEST 29 | 30 | # PyInstaller 31 | # Usually these files are written by a python script from a template 32 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 33 | *.manifest 34 | *.spec 35 | 36 | # Installer logs 37 | pip-log.txt 38 | pip-delete-this-directory.txt 39 | 40 | # Unit test / coverage reports 41 | htmlcov/ 42 | .tox/ 43 | .nox/ 44 | .coverage 45 | .coverage.* 46 | .cache 47 | nosetests.xml 48 | coverage.xml 49 | *.cover 50 | *.py,cover 51 | .hypothesis/ 52 | .pytest_cache/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | target/ 76 | 77 | # Jupyter Notebook 78 | .ipynb_checkpoints 79 | 80 | # IPython 81 | profile_default/ 82 | ipython_config.py 83 | 84 | # pyenv 85 | .python-version 86 | 87 | # pipenv 88 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 89 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 90 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 91 | # install all needed dependencies. 92 | #Pipfile.lock 93 | 94 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow 95 | __pypackages__/ 96 | 97 | # Celery stuff 98 | celerybeat-schedule 99 | celerybeat.pid 100 | 101 | # SageMath parsed files 102 | *.sage.py 103 | 104 | # Environments 105 | .env 106 | .venv 107 | env/ 108 | venv/ 109 | ENV/ 110 | env.bak/ 111 | venv.bak/ 112 | 113 | # Spyder project settings 114 | .spyderproject 115 | .spyproject 116 | 117 | # Rope project settings 118 | .ropeproject 119 | 120 | # mkdocs documentation 121 | /site 122 | 123 | # mypy 124 | .mypy_cache/ 125 | .dmypy.json 126 | dmypy.json 127 | 128 | # Pyre type checker 129 | .pyre/ 130 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU AFFERO GENERAL PUBLIC LICENSE 2 | Version 3, 19 November 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU Affero General Public License is a free, copyleft license for 11 | software and other kinds of works, specifically designed to ensure 12 | cooperation with the community in the case of network server software. 13 | 14 | The licenses for most software and other practical works are designed 15 | to take away your freedom to share and change the works. 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If not, see . 647 | 648 | Also add information on how to contact you by electronic and paper mail. 649 | 650 | If your software can interact with users remotely through a computer 651 | network, you should also make sure that it provides a way for users to 652 | get its source. For example, if your program is a web application, its 653 | interface could display a "Source" link that leads users to an archive 654 | of the code. There are many ways you could offer source, and different 655 | solutions will be better for different programs; see section 13 for the 656 | specific requirements. 657 | 658 | You should also get your employer (if you work as a programmer) or school, 659 | if any, to sign a "copyright disclaimer" for the program, if necessary. 660 | For more information on this, and how to apply and follow the GNU AGPL, see 661 | . 662 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # 使用A*算法的最短路径优化设计 2 | 3 | > 2021.4 - 2021.6 建模与仿真 4 | 5 | **使用python实现** 6 | 7 | **Author: GitHub@laorange** 8 | 9 | **开源授权协议: AGPL-3.0 License** 10 | 11 | [源代码](https://github.com/laorange/Modeling_and_Simulation2021/blob/main/main.py)、[更新日志](https://github.com/laorange/Modeling_and_Simulation2021/blob/main/README.md)、[GitHub](https://github.com/laorange/Modeling_and_Simulation2021)、[Gitee](https://gitee.com/laorange/Modeling_and_Simulation2021) 12 | 13 | ## 使用说明 14 | 15 | 1. 打开命令行``cmd`` 或 ``Anaconda Prompt`` 16 | 17 | 2. ``cd`` 转到程序所在的文件夹下 18 | 19 | 3. 安装所需第三方库 20 | 21 | ```txt 22 | pip install pandas 23 | pip install plotly 24 | ``` 25 | 26 | 4. 输入 ``python main.py --help`` 可查看所有可选参数的说明 27 | 28 | 5. 示例： 29 | 30 | ![image-20210502133419823](README_image/image-20210502133419823.png) 31 | 32 | > **备注**：默认是沿对角线方向移动(2d为8向, 3d为26向)；如果是传入``--straight``参数则使用直线模式：2d为前后左右4个方向（3d为前后左右上下6个方向） 33 | 34 | ## 示例 35 | 36 | ### 查看示例 37 | 38 | 文件较大，网页加载可能会比较慢 39 | 40 | | 示例列表 | 41 | | ------------------------------------------------------------ | 42 | | [2D 对角线模式](https://laorange.github.io/Modeling_and_Simulation2021/2d_%E6%96%9C%E7%BA%BF%E6%A8%A1%E5%BC%8F.html) | 43 | | [2D 直线模式](https://laorange.github.io/Modeling_and_Simulation2021/2d_%E7%9B%B4%E7%BA%BF%E6%A8%A1%E5%BC%8F.html) | 44 | | [3D 对角线模式](https://laorange.github.io/Modeling_and_Simulation2021/3d_%E6%96%9C%E7%BA%BF%E6%A8%A1%E5%BC%8F.html) | 45 | | [3D 直线模式](https://laorange.github.io/Modeling_and_Simulation2021/3d_%E7%9B%B4%E7%BA%BF%E6%A8%A1%E5%BC%8F.html) | 46 | 47 | ### 2d情况 48 | 49 | #### 对角线模式：(用时: 0.6947秒) 50 | 51 | ![oCam_2021_06_01_14_52_25_742](README_image/oCam_2021_06_01_14_52_25_742.gif) 52 | 53 | #### 直线模式：(用时: 0.3629秒) 54 | 55 | ![oCam_2021_06_01_15_07_19_417](README_image/oCam_2021_06_01_15_07_19_417.gif) 56 | 57 | ----- 58 | 59 | ### 3d情况 60 | 61 | ```python 62 | # 以下情况为障碍物 63 | if x - y == 15 and z < 15: 64 | OBSTACLE = True 65 | if x - y == 15 and 15 <= z <= 20 and x <= 25: 66 | OBSTACLE = True 67 | if x == 25 and z > 5 and y >= 10: 68 | OBSTACLE = True 69 | if z == 20 and y < 25 and x <= 25: 70 | OBSTACLE = True 71 | if z == 10 and y > 10 and x >= 20: 72 | OBSTACLE = True 73 | if y == 25 and x < 20 and z <= 20: 74 | OBSTACLE = True 75 | if y == 25 and 5 <= x <= 15 and z >= 20: 76 | OBSTACLE = True 77 | if y == 10 and 15 <= x <= 25 and z >= 20: 78 | OBSTACLE = True 79 | if x == 15 and 10 <= y < 25 and z > 5: 80 | OBSTACLE = True 81 | if x == 15 and 5 <= y < 10 and z > 20: 82 | OBSTACLE = True 83 | if x + y == 15 and z < 15: 84 | OBSTACLE = True 85 | ``` 86 | 87 | #### 对角线模式：(用时: 600.2027秒) 88 | 89 | 原文件请在 ``results/v1静态结果示例.zip`` 中查看 90 | 91 | ![image-20210502142330915](README_image/image-20210502142330915.png) 92 | 93 | #### 直线模式：(用时: 130.0591秒) 94 | 95 | 原文件请在 ``results/v1静态结果示例.zip`` 中查看 96 | 97 | ![image-20210502142749636](README_image/image-20210502142749636.png) 98 | 99 | ------- 100 | 101 | ## 总截图 102 | 103 | ![image-time](README_image/time.png) 104 | -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | # Modeling_and_Simulation2021 2 | 3 | # 2021.4 建模与仿真 - 使用A*算法的最短路径优化设计 4 | 5 | 6 | 7 | ## v1.0 8 | 9 | 4.13 下午更新 10 | 11 | 示例中， 12 | 13 | + 地图大小为 100 × 100 × 100 14 | + 起点为 (10, 10, 10) 15 | + 终点为 (80, 80, 80) 16 | 17 | + 障碍物设置为 18 | 19 | ```python 20 | if y < x - 30 or z < y - 30 or x < z - 30: 21 | print("这是障碍物") 22 | ``` 23 | 24 | + 效果图： 25 | 26 | ![image-20210412164707624](README_image/image-20210412164707624.png) 27 | 28 | ![image-20210412164923482](README_image/image-20210412164923482.png) 29 | 30 | ![image-20210412164954589](README_image/image-20210412164954589.png) 31 | 32 | > 以上图片为浏览器打开demo.html的截图 33 | 34 | ------ 35 | 36 | ## v1.1 37 | 38 | 4.13晚 更新 39 | 40 | 新增功能：2D/3D选择，路径模式/扫描模式 41 | 42 | 已解决：死胡同会卡死的bug 43 | 44 | 未解决：死胡同拐出处并非最短路径的问题 45 | 46 | ![image-20210413000012195](README_image/image-20210413000012195.png) 47 | 48 | ![image-20210413000044766](README_image/image-20210413000044766.png) 49 | 50 | ----- 51 | 52 | ## v1.2 53 | 54 | 4.14 更新： 55 | 56 | 已解决：死胡同拐出处并非最短路径的问题 57 | 58 | 新增：时间统计 & 进度显示 59 | 60 | 61 | 62 | + (0, 0) → (10, 90) : 用时40.92秒 63 | 64 | ![image-20210413090934882](README_image/image-20210413090934882.png) 65 | 66 | + (0, 0) → (45, 60) : 用时125.33秒 67 | 68 | ![image-20210413092642740](README_image/image-20210413092642740.png) 69 | 70 | ``` 71 | self.f = 0.99 * self.g + self.h 72 | 73 | 用时: 126.51秒 74 | ``` 75 | 76 | + (0, 0) → (66, 56) : 用时612.42秒 77 | 78 | ![image-20210413094518887](README_image/image-20210413094518887.png) 79 | 80 | ------ 81 | 82 | ## v1.3 83 | 84 | 修复问题：初始点未加入到closed_points和computed_points中 85 | 86 | 计算速度极大提升(原因不详) 87 | 88 | 上图10分钟出的结果，仅用了28.95秒 89 | 90 | ## v1.4 91 | 92 | ### 2维情况 93 | 94 | (0, 0) → (80, 80) : 用时 43.73秒 95 | 96 | ### 3维情况 97 | 98 | (0, 0, 0) → (80, 80, 80) : 用时 570.03秒 99 | 100 | ## v1.5 101 | 102 | 优化move方法 103 | 104 | ### 2维情况 105 | 106 | (0, 0) → (80, 80) : 用时 43.03秒 107 | 108 | #### 障碍物布局 109 | 110 | ```python 111 | if x > 10 and y == 50 - x: 112 | OBSTACLE = True 113 | if x < 50 and y == 60 - x: 114 | OBSTACLE = True 115 | if x > 40 and y == 70 - x: 116 | OBSTACLE = True 117 | if x == 50 and y > 40: 118 | OBSTACLE = True 119 | if x == 40 and 30 <= y < 80: 120 | OBSTACLE = True 121 | if 60 <= x <= 70 and y == 120 - x: 122 | OBSTACLE = True 123 | if 50 <= x <= 70 and y == 140 - x: 124 | OBSTACLE = True 125 | if x == 70 and 50 <= y <= 70: 126 | OBSTACLE = True 127 | ``` 128 | 129 | ### 3维情况 130 | 131 | (0, 0, 0) → (80, 80, 80) : 用时 532.22秒 132 | 133 | #### 障碍物布局 134 | 135 | ```python 136 | if y == 20 - x and z < 60: 137 | OBSTACLE = True 138 | if y == 60 - x and 70 <= z <= 90: 139 | OBSTACLE = True 140 | if x + y + z == 160 and 40 <= x <= 60 and 40 <= y <= 60 and 40 <= z <= 80: 141 | OBSTACLE = True 142 | ``` 143 | 144 | ## v1.6 145 | 146 | 新增 斜向移动 147 | 148 | ## v1.7 149 | 150 | 使用argparse输入参数 151 | 152 | 减小默认地图大小 153 | 154 | 20 × 20 , 下图的识别仅需0.15秒 155 | 156 | ![image-20210414093516055](README_image/image-20210414093516055.png) 157 | 158 | ## v1.8 159 | 160 | 更正对角线模式下，g和h的计算方法 161 | 162 | 优化remove方法 163 | 164 | ## v1.9 165 | 166 | 1. 显著提升检测速度 167 | 168 | 原本2d (0, 0) → (80, 80) : 用时 43.03秒 → 10.2314秒(v1.9) 169 | 170 | 原本3d (0, 0, 0) → (80, 80, 80) : 用时 532.22秒 → 13.6530秒(v1.9) 171 | 172 | 2. 解决斜线模式穿墙的问题 173 | 174 | 3. 斜线模式成为默认模式 175 | 176 | 4. 默认地图大小恢复为100×100 -------------------------------------------------------------------------------- /main.py: -------------------------------------------------------------------------------- 1 | from random import randint 2 | from time import perf_counter 3 | from threading import Thread 4 | import argparse 5 | from pandas import DataFrame 6 | import plotly 7 | import plotly.express as px 8 | from tqdm import tqdm 9 | 10 | # 全局变量 11 | open_points = [] 12 | open_points_lists = [] 13 | open_points_f = [] 14 | open_points_recorder = [] 15 | closed_points_lists = [] 16 | obstacle_points = [] 17 | exceptions = [] # 该列表记录遇障情况，默认不输出 18 | 19 | 20 | # TODO: 在此处设置障碍物的位置 21 | def this_point_is_valid_or_raise_error(x: int, y: int, z: int): 22 | OBSTACLE = False 23 | # TODO: ↓ 在下方定义 2d 的障碍 24 | if not opt.use_3d: 25 | if x + y == 30 and 5 < x < 20: 26 | OBSTACLE = True 27 | 28 | # TODO: ↓ 在下方定义 3d 的障碍 29 | else: 30 | # 请注意：3d极其容易导致最终图中的点过多，导致画图失败。建议变更地图大小后再使用3d功能/或变更3d画法，参考v1.9 31 | if 19 <= x + y <= 20 and x > 6 and y > 6 and 8 < z < 15: 32 | OBSTACLE = True 33 | 34 | if OBSTACLE: 35 | raise Exception(f"({x}, {y}, {z})，遇到障碍物") 36 | if x < 0 or x > opt.map_x or y < 0 or y > opt.map_y or z > opt.map_z or z < 0: 37 | raise Exception(f"({x}, {y}, {z})，超出边界") 38 | 39 | 40 | class Point: 41 | def __init__(self, x: int, y: int, z: int, g: float or int = 0.0, route_input=None, t: int = 0): 42 | self.x = x 43 | self.y = y 44 | self.z = z 45 | self.g = g # g: 步数 46 | 47 | if opt.use_3d: # h 到终点的距离 48 | self.h = abs(opt.end_x - self.x) + abs(opt.end_y - self.y) + abs(opt.end_z - self.z) 49 | if not opt.straight: 50 | self.h = ((opt.end_x - self.x) ** 2 + (opt.end_y - self.y) ** 2 + (opt.end_z - self.z) ** 2) ** 0.5 51 | else: 52 | self.h = int(abs(opt.end_x - self.x) + abs(opt.end_y - self.y)) 53 | if not opt.straight: 54 | self.h = ((opt.end_x - self.x) ** 2 + (opt.end_y - self.y) ** 2) ** 0.5 55 | 56 | self.f = 0.99 * self.g + 1 * self.h # 略调小g占比，使在f相同时取h更小的值 57 | self.t = g if t == 0 else t # t: 默认值为g, 数值越大颜色越鲜艳 58 | self.route = route_input if route_input is not None else [] # 从终点到该点的路径 59 | self.close = False # 是否close 60 | 61 | def to_list(self): 62 | return [self.x, self.y, self.z] 63 | 64 | def be_closed(self): 65 | self.close = True 66 | 67 | 68 | # 在图中画出障碍物 69 | def record_all_obstacle_on_the_map(): 70 | global obstacle_points 71 | for x in range(opt.map_x + 1): 72 | for y in range(opt.map_y + 1): 73 | if opt.use_3d: 74 | for z in range(opt.map_z + 1): 75 | try: 76 | this_point_is_valid_or_raise_error(x, y, z) 77 | except: 78 | obstacle_points.append([x, y, z]) 79 | else: 80 | z = opt.start_z 81 | try: 82 | this_point_is_valid_or_raise_error(x, y, z) 83 | except: 84 | obstacle_points.append([x, y, z]) 85 | if not opt.use_3d: # 2维图画出边界 86 | for x in range(- 1, opt.map_x + 2): 87 | obstacle_points.append([x, -1, opt.start_z]) 88 | obstacle_points.append([x, opt.map_y + 1, opt.start_z]) 89 | for y in range(0, opt.map_y + 1): 90 | obstacle_points.append([-1, y, opt.start_z]) 91 | obstacle_points.append([opt.map_x + 1, y, opt.start_z]) 92 | 93 | 94 | class OperationalPoint(Point): 95 | def move(self, axis: str): 96 | try: 97 | distance = 0 98 | new_coordinate = {'x': self.x, 'y': self.y, 'z': self.z} 99 | for axis_name in ['x', 'y', 'z']: 100 | from_where = {'x': self.x, 'y': self.y, 'z': self.z} 101 | if axis_name in axis: 102 | change = -1 if ("-" + axis_name) in axis else 1 103 | new_coordinate[axis_name] += change 104 | from_where[axis_name] += change 105 | this_point_is_valid_or_raise_error(from_where['x'], from_where['y'], from_where['z']) 106 | distance += 1 107 | g_new = self.g + distance ** 0.5 108 | this_point_is_valid_or_raise_error(new_coordinate['x'], new_coordinate['y'], new_coordinate['z']) 109 | new_route = self.route[:] 110 | new_route.append([self.x, self.y, self.z]) 111 | new_point = Point(new_coordinate['x'], new_coordinate['y'], new_coordinate['z'], g_new, new_route) 112 | if new_point.to_list() not in open_points_lists: 113 | open_points_lists.append(new_point.to_list()) 114 | open_points_recorder[-1].append(new_point.to_list()) 115 | open_points.append(new_point) 116 | open_points_f.append(new_point.f) 117 | else: 118 | new_point_index = open_points_lists.index(new_point.to_list()) 119 | if open_points[new_point_index].g > new_point.g: 120 | open_points[new_point_index] = new_point 121 | open_points_f[new_point_index] = new_point.f 122 | if new_point.to_list() in closed_points_lists: 123 | closed_points_lists.remove(new_point.to_list()) 124 | except Exception as e: 125 | exceptions.append(e) # 添加遇障信息 126 | 127 | def iterate_one_time(self): 128 | threads = [] 129 | open_points_recorder.append([]) 130 | if opt.use_3d: # 3d 情况 131 | axis_list = ["x", "y", "z", "-x", "-y", "-z", 'xy', 'xz', 'yz', '-xy', '-xz', '-yz', 'x-y', 'x-z', 'y-z', 132 | '-x-y', '-x-z', '-y-z', "xyz", "-xyz", "x-yz", "xy-z", "-x-yz", "-xy-z", "x-y-z", "-x-y-z"] 133 | if opt.straight: 134 | axis_list = ["x", "y", "z", "-x", "-y", "-z"] 135 | else: # 2d 情况 136 | axis_list = ["x", "y", "-x", "-y", 'xy', '-xy', 'x-y', '-x-y'] 137 | if opt.straight: 138 | axis_list = ["x", "y", "-x", "-y"] 139 | while axis_list: 140 | axis = axis_list.pop(randint(0, len(axis_list) - 1)) 141 | task = Thread(target=self.move, args=[axis]) # 多线程加速计算 142 | threads.append(task) 143 | task.start() 144 | threads[-1].join() 145 | 146 | 147 | def determine_best_point() -> Point: 148 | global REACH_THE_DESTINATION 149 | MAX_DISTANCE_ON_THE_MAP = (opt.map_x + opt.map_y + opt.map_z) * 10 150 | if open_points: 151 | min_f = min(open_points_f[::-1]) 152 | ALL_CLOSED = False if min_f <= MAX_DISTANCE_ON_THE_MAP else True 153 | index_min_f = len(open_points_f) - open_points_f[::-1].index(min_f) - 1 154 | temp_best_point = open_points[index_min_f] 155 | if ALL_CLOSED: 156 | REACH_THE_DESTINATION = True 157 | print("未到达终点，但已遍历所有情况") 158 | final_point = temp_best_point 159 | return final_point 160 | if temp_best_point.x == opt.end_x: 161 | if temp_best_point.y == opt.end_y: 162 | if temp_best_point.z == opt.end_z: 163 | REACH_THE_DESTINATION = True # 到达终点 164 | if temp_best_point.to_list() not in closed_points_lists: 165 | if not REACH_THE_DESTINATION: 166 | closed_points_lists.append(temp_best_point.to_list()) 167 | open_points[index_min_f].be_closed() 168 | open_points_f[index_min_f] += MAX_DISTANCE_ON_THE_MAP 169 | else: 170 | REACH_THE_DESTINATION = True 171 | print("未到达终点，但出错了") 172 | return temp_best_point 173 | 174 | 175 | # 使用plotly进行可视化 176 | def visualize(last_point: Point): 177 | t_ls = [] # step 178 | c_ls = [] # color 179 | x_ls = [] 180 | y_ls = [] 181 | z_ls = [] 182 | final_recorder = [step for step in open_points_recorder if step] 183 | step_len = len(final_recorder) 184 | for step in tqdm(final_recorder): 185 | step_num = final_recorder.index(step) + 1 186 | for point in step: 187 | for t in range(step_num, step_len + 1): 188 | t_ls.append(t) 189 | c_ls.append(step_num) 190 | x_ls.append(point[0]) 191 | y_ls.append(point[1]) 192 | z_ls.append(point[2]) 193 | t_ls.append(step_num) 194 | c_ls.append(step_num * 1.5) 195 | x_ls.append(opt.end_x) 196 | y_ls.append(opt.end_y) 197 | z_ls.append(opt.end_z) 198 | last_best_point = last_point 199 | routes = last_best_point.route 200 | if routes: 201 | for i in range(len(routes)): 202 | t_ls.append(step_len + 1) 203 | c_ls.append(0) 204 | x_ls.append(routes[i][0]) 205 | y_ls.append(routes[i][1]) 206 | z_ls.append(routes[i][2]) 207 | t_ls.append(step_len + 1) 208 | c_ls.append(100) 209 | x_ls.append(last_best_point.x) 210 | y_ls.append(last_best_point.y) 211 | z_ls.append(last_best_point.z) 212 | t_ls_route = list(set(t_ls[:])) 213 | for t in tqdm(t_ls_route): 214 | for obstacle_point in obstacle_points: 215 | t_ls.append(t) 216 | c_ls.append(-100) 217 | x_ls.append(obstacle_point[0]) 218 | y_ls.append(obstacle_point[1]) 219 | z_ls.append(obstacle_point[2]) 220 | data = DataFrame({'x': x_ls, 'y': y_ls, 'z': z_ls, 'step': t_ls, 'color': c_ls}) 221 | print("共计{}个点，现在开始画图，预计需要{}秒".format(len(x_ls), int(2.0 + len(x_ls) * 2e-05) if len(x_ls) < 1e7 else '∞')) 222 | start_time_draw = perf_counter() 223 | fig = px.scatter_3d(data, x='x', y='y', z='z', animation_frame='step', color='color') 224 | plotly.offline.plot(fig, filename=f"output.html") 225 | print("画图用时{:.2f}秒".format(perf_counter() - start_time_draw)) 226 | 227 | 228 | def prepare_before_iterate(start_point: OperationalPoint): 229 | open_points_lists.append(start_point.to_list()) 230 | open_points.append(start_point) 231 | open_points_f.append(start_point.f) 232 | open_points_recorder.append([start_point.to_list()]) 233 | 234 | 235 | if __name__ == '__main__': 236 | parser = argparse.ArgumentParser() 237 | parser.add_argument('--use-3d', action='store_true', help='维度是否为3维') 238 | parser.add_argument('--debug', action='store_true', help='调试模式，可查看障碍物&起点终点位置') 239 | parser.add_argument('--straight', action='store_true', help='是否按直线行进（即不能沿对角线方向移动）') 240 | parser.add_argument('--map-x', nargs='?', type=int, default=30, metavar='int', help='地图长度') 241 | parser.add_argument('--map-y', nargs='?', type=int, default=30, metavar='int', help='地图宽度') 242 | parser.add_argument('--map-z', nargs='?', type=int, default=30, metavar='int', help='地图高度') 243 | parser.add_argument('--start-x', nargs='?', type=int, default=0, metavar='int', help='起点x轴坐标') 244 | parser.add_argument('--start-y', nargs='?', type=int, default=0, metavar='int', help='起点y轴坐标') 245 | parser.add_argument('--start-z', nargs='?', type=int, default=0, metavar='int', help='起点z轴坐标') 246 | parser.add_argument('--end-x', nargs='?', type=int, default=30, metavar='int', help='终点x轴坐标') 247 | parser.add_argument('--end-y', nargs='?', type=int, default=30, metavar='int', help='终点y轴坐标') 248 | parser.add_argument('--end-z', nargs='?', type=int, default=30, metavar='int', help='终点z轴坐标') 249 | opt = parser.parse_args() 250 | 251 | if not opt.use_3d and opt.start_z != opt.end_z: 252 | opt.end_z = opt.start_z 253 | print("2维模式下，起点和终点的Z轴坐标必须相同，已自动将终点位置的z轴坐标设为与起点相同") 254 | 255 | record_all_obstacle_on_the_map() 256 | 257 | REACH_THE_DESTINATION = opt.debug 258 | if REACH_THE_DESTINATION: 259 | print("当前为调试模式，可查看障碍物&起点终点位置") 260 | closed_points_lists.append([opt.start_x, opt.start_y, opt.start_z]) 261 | closed_points_lists.append([opt.end_x, opt.end_y, opt.end_z]) 262 | 263 | best_point = OperationalPoint(opt.start_x, opt.start_y, opt.start_z) # 初始点 264 | starting_h = best_point.h 265 | if not opt.debug: 266 | prepare_before_iterate(start_point=best_point) 267 | else: 268 | open_points_recorder.append([best_point.to_list()]) 269 | open_points_recorder.append([[opt.end_x, opt.end_y, opt.end_z]]) 270 | 271 | start_time = perf_counter() # 记录开始时间 272 | count = 100 273 | break_point_time = start_time 274 | while not REACH_THE_DESTINATION: 275 | try: 276 | count += 1 277 | best_point = determine_best_point() 278 | new_operational_point = OperationalPoint(best_point.x, best_point.y, best_point.z, 279 | best_point.g, best_point.route) 280 | progress = 1 - new_operational_point.h / starting_h 281 | if count // 100: 282 | print("\r当前位置({}, {}, {})，迭代速度:{:.2f}轮/秒，有效路程:{:.2f}%".format(new_operational_point.x, 283 | new_operational_point.y, 284 | new_operational_point.z, 285 | 100 / (perf_counter() - break_point_time), 286 | 100 * progress), end='') 287 | break_point_time = perf_counter() 288 | count = 0 289 | new_operational_point.iterate_one_time() 290 | except KeyboardInterrupt: 291 | print('中断') 292 | break 293 | print("\n用时: {:.4f}秒".format(perf_counter() - start_time)) 294 | visualize(last_point=best_point) 295 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | pandas~=1.0.5 2 | plotly>=4.14.3 3 | numpy~=1.19.1 4 | tqdm~=4.11.2 --------------------------------------------------------------------------------