Python完美运用A*实现迷宫寻路

使用def find route（arr，m，n）作为开头函数使用
arr作为迷宫矩阵
m表示矩阵行数
n表示矩阵列数
用点坐标列表表示

下面是一个Python实现的A*算法用于迷宫寻路的示例代码，你可以参考下面的代码实现：

import heapq

def heuristic(a, b):
    return (b[0] - a[0]) ** 2 + (b[1] - a[1]) ** 2

def astar(array, start, goal):
    neighbors = [(0,1),(0,-1),(1,0),(-1,0),(1,1),(1,-1),(-1,1),(-1,-1)]

    close_set = set()
    came_from = {}
    gscore = {start:0}
    fscore = {start:heuristic(start, goal)}
    oheap = []

    heapq.heappush(oheap, (fscore[start], start))
    
    while oheap:
        current = heapq.heappop(oheap)[1]
        
        if current == goal:
            data = []
            while current in came_from:
                data.append(current)
                current = came_from[current]
            return data
        
        close_set.add(current)
        for i, j in neighbors:
            neighbor = current[0] + i, current[1] + j
            tentative_g_score = gscore[current] + heuristic(current, neighbor)
            if 0 <= neighbor[0] < array.shape[0]:
                if 0 <= neighbor[1] < array.shape[1]:                
                    if array[neighbor[0]][neighbor[1]] == 1:
                        continue
                else:
                    # array bound y walls
                    continue
            else:
                # array bound x walls
                continue

            if neighbor in close_set and tentative_g_score >= gscore.get(neighbor, 0):
                continue

            if  tentative_g_score < gscore.get(neighbor, 0) or neighbor not in [i[1]for i in oheap]:
                came_from[neighbor] = current
                gscore[neighbor] = tentative_g_score
                fscore[neighbor] = tentative_g_score + heuristic(neighbor, goal)
                heapq.heappush(oheap, (fscore[neighbor], neighbor))

    return False

其中，arr是一个二维矩阵，1表示障碍物，0表示可以通过的地方；start和goal是起点和终点的坐标。函数返回一个路径，如果无法找到路径则返回False。你可以将arr、m、n转换为点坐标列表的形式来调用此函数，示例代码如下：

import numpy as np

arr = np.array([
    [0, 0, 1, 0],
    [0, 0, 1, 0],
    [0, 0, 0, 0],
    [0, 1, 1, 0],
    [0, 0, 0, 0]
])

m, n = arr.shape

start = (0, 0)
goal = (4, 3)

path = astar(arr, start, goal)

if path:
    print("Path found: ", path[::-1])
else:
    print("Path not found")

你需要根据你自己的数据结构来适当地修改代码。