# graduate_astar

**Repository Path**: haroldhl/graduate_astar

## Basic Information

- **Project Name**: graduate_astar
- **Description**: 此仓库用于记录对本科毕设A*路径规划相关代码的修改过程
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 0
- **Created**: 2024-04-18
- **Last Updated**: 2024-06-24

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# graduate_astar

#### 介绍
此仓库用于记录对本科毕设A*路径规划相关代码的修改过程

#### 软件架构


#### 文件说明
refer文件夹存放着之前写的代码和别人的相关代码

picture 文件夹放着地图和生成的图片

npy文件夹用于储存中间数据，方便单独调试某一部分的代码

Astar_improve.py是对A*算法的改进，主要是对A*算法的启发函数进行了改进，但是改进后表现的更差了

Astar_no_improve.py是经典的A*算法的改进，八领域，距离代价都是棋盘格距离，斜线为1.4， g_cost存在0.9的系数

bezier_curve_smooth.py is used to smooth the path which is generated by several point and straight line

map_discrete.py is used to generate a matrix from a map, include discrete the map

point_prune is used to simplify the path, use less point to represent the path