机器人路径规划：基于改进型A*算法的机器人路径规划（提供Python代码）
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_dynam