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diff --git a/doc/空地协同无人作战系统-软件需求规格说明书.docx b/doc/空地协同无人作战系统-软件需求规格说明书.docx
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diff --git a/src/Astar/Astar-level6.py b/src/Astar/Astar-level6.py
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+++ b/src/Astar/Astar-level6.py
@@ -0,0 +1,213 @@
+import numpy as np
+import matplotlib.pyplot as plt
+
+#Astar算法
+def A_star(org, des):
+    open_list = []
+    close_list = []
+    open_list.append(org)
+    while len(open_list) > 0:
+
+        temp_node = open_list[0]
+        for node in open_list:
+            if node.f < temp_node.f:
+                temp_node = node
+        current_node= temp_node
+
+
+        open_list.remove(current_node)
+        close_list.append(current_node)
+        #找到当前节点的所有邻近节点
+        node_list = []
+        if Is_valid(current_node.x, current_node.y - 1, open_list, close_list):
+            node_list.append(Node(current_node.x, current_node.y - 1))
+        if Is_valid(current_node.x, current_node.y + 1, open_list, close_list):
+            node_list.append(Node(current_node.x, current_node.y + 1))
+        if Is_valid(current_node.x - 1, current_node.y, open_list, close_list):
+            node_list.append(Node(current_node.x - 1, current_node.y))
+        if Is_valid(current_node.x + 1, current_node.y, open_list, close_list):
+            node_list.append(Node(current_node.x + 1, current_node.y))
+        if Is_valid(current_node.x - 1, current_node.y - 1, open_list, close_list):
+            node_list.append(Node(current_node.x - 1, current_node.y - 1))
+        if Is_valid(current_node.x + 1, current_node.y + 1, open_list, close_list):
+            node_list.append(Node(current_node.x + 1, current_node.y + 1))
+        if Is_valid(current_node.x - 1, current_node.y + 1, open_list, close_list):
+            node_list.append(Node(current_node.x - 1, current_node.y + 1))
+        if Is_valid(current_node.x + 1, current_node.y - 1, open_list, close_list):
+            node_list.append(Node(current_node.x + 1, current_node.y - 1))
+        neighbors = node_list
+        for node in neighbors:
+            if node not in open_list:
+
+                node.init_node(current_node, des)
+                open_list.append(node)
+
+            for node in open_list:
+                if (node.x == des.x) and (node.y == des.y):
+                    return node
+
+    return None
+
+#邻点是否可用
+def Is_valid(x,y,open_list=[],close_list=[]):
+
+
+    if x < 0 or x >=len(MAZE) or y < 0 or y >= len(MAZE[0]):
+        return False
+
+    if MAZE[x][y] == 1:
+        return False
+
+    if Is_contain(open_list,x,y):
+        return False
+
+    if Is_contain(close_list,x,y):
+        return False
+    return True
+
+
+def Is_contain(nodes, x, y):
+    for node in nodes:
+        if (node.x == x) and (node.y == y):
+            return True
+    return False
+
+
+class Node:
+    def __init__(self, x, y):
+        self.x = x
+        self.y = y
+        self.f = 0
+        self.g = 0
+        self.h = 0
+        self.parent = None
+        
+
+#对角线移动是直行移动代价的1.4倍
+#如果相邻节点已有父节点，则父节点是否更改以使g值最小为准
+    def init_node(self, parent, end):
+        if self.parent is not None:
+            if parent is not None:
+                if abs(self.x - parent.x) + abs(self.y - parent.y) == 1:
+                    if self.g > parent.g + 10:
+                        self.g = parent.g + 10
+                        self.parent = parent
+                        self.h = (abs(self.x - end.x) + abs(self.y - end.y))*10
+                        self.f = self.g + self.h
+                else:
+                    if self.g > parent.g + 20:
+                        self.g = parent.g + 20
+                        self.parent = parent
+                        self.h = (abs(self.x - end.x) + abs(self.y - end.y))*10
+                        self.f = self.g + self.h
+        else:
+            if parent is not None:
+                if abs(self.x - parent.x) + abs(self.y - parent.y) == 1:
+                        self.g = parent.g + 10
+                        self.parent = parent
+                        self.h = (abs(self.x - end.x) + abs(self.y - end.y))*10
+                        self.f = self.g + self.h
+                else:
+                        self.g = parent.g + 20
+                        self.parent = parent
+                        self.h = (abs(self.x - end.x) + abs(self.y - end.y))*10
+                        self.f = self.g + self.h
+                        
+def draw_path(map_grid,path):
+    obstacle_x=[]
+    obstacle_y=[]
+    path_x=[]
+    path_y=[]
+    close_list_x=[]
+    close_list_y=[]
+    open_list_x=[]
+    open_list_y=[]
+    for i in range(len(map_grid)):
+        for j in range(len(map_grid[0])):
+            if map_grid[i][j]==1:   #栅格地图上obstacle为障碍物标识
+                obstacle_x.append(j)
+                obstacle_y.append(len(map_grid)-1-i)    
+    plt.figure(figsize=(10,10))  #为了防止x,y轴间隔不一样长，影响最后的表现效果，所以手动设定等长
+    plt.ylim(-0.5,len(map_grid)-0.5)
+    plt.xlim(-0.5,len(map_grid[0])-0.5)
+    my_y_ticks = np.arange(0, len(map_grid), 1)
+    my_x_ticks = np.arange(0, len(map_grid[0]), 1)
+    plt.xticks(my_x_ticks)#竖线的位置与间隔
+    plt.yticks(my_y_ticks)
+    plt.grid(True)  #开启栅格
+    for point in path:
+        path_x.append(point.y)
+        path_y.append(len(map_grid)-1-point.x)
+    plt.plot(path_x,path_y,linewidth=3)
+    plt.scatter(open_list_x,open_list_y,s=500,c='cyan',marker='s')
+    plt.scatter(obstacle_x,obstacle_y,s=500,c='k',marker='s')
+    plt.scatter(close_list_x,close_list_y,s=500,c='g',marker='s')
+    plt.title("grid map simulation ")
+    plt.show()
+"""
+            if map_grid[i][j]==closelist:   #栅格地图上closelist为为闭列表中记录的位置标志
+                close_list_x.append(i)
+                close_list_y.append(j)
+            if map_grid[i][j]==openlist:   #栅格地图上openlist为为闭列表中记录的位置标志
+                open_list_x.append(i)
+                open_list_y.append(j)
+"""
+#暂时不画closelist和openlist
+
+#迷宫地图
+MAZE = [
+    [0,0,0,0,0,0,0,0,0,0,0,1,1,0,1,0,1,0,1,1,0,1,0],
+    [0,0,0,0,0,0,1,1,0,1,0,1,0,0,0,0,0,1,1,0,0,0,1],
+    [0,0,0,1,0,0,0,1,0,0,0,1,1,0,1,0,1,0,0,1,0,0,1],
+    [0,0,1,1,0,0,0,0,0,0,0,0,0,1,1,0,1,0,1,1,0,1,0],
+    [0,0,0,0,0,0,0,1,1,0,0,0,0,1,1,0,1,0,0,0,0,0,0],
+    [0,0,0,1,1,1,0,1,0,0,0,1,0,1,0,0,0,1,1,0,1,1,0],
+    [0,1,0,0,1,1,0,0,0,0,0,1,1,0,1,0,0,0,0,0,1,0,0],
+    [0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0,1,0,1,0],
+    [1,0,0,0,0,0,1,1,0,1,0,0,0,0,0,0,1,1,0,0,1,0,1],
+    [0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,0,1,1,0],
+    [1,0,1,1,0,0,0,0,0,0,0,0,1,1,0,1,0,1,1,0,1,0,1],
+    [0,0,0,0,0,0,0,1,1,0,0,0,0,0,1,0,0,0,1,0,1,0,1],
+    [0,0,0,1,1,1,0,1,0,0,0,0,1,1,1,1,0,1,0,0,0,1,1],
+    [0,1,0,0,1,1,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,1,1],
+    [0,0,0,0,0,1,0,0,0,0,0,0,0,1,1,0,1,0,1,0,0,1,1],
+    [0,0,0,0,0,0,0,0,0,0,0,1,1,0,1,0,1,0,1,1,0,1,0],
+    [0,0,0,0,0,0,1,1,0,1,0,1,0,0,0,0,0,1,1,0,0,0,1],
+    [0,0,0,1,0,0,0,1,0,0,0,1,1,0,1,0,1,0,0,1,0,0,1],
+    [0,0,1,1,0,0,0,0,0,0,0,0,0,1,1,0,1,0,1,1,0,1,0],
+    [0,0,0,0,0,0,0,1,1,0,0,0,0,1,1,0,1,0,0,0,0,0,0],
+    [0,0,0,1,1,1,0,1,0,0,0,1,0,1,0,0,0,1,1,0,1,1,0],
+    [0,1,0,0,1,1,0,0,0,0,0,1,1,0,1,0,0,0,0,0,1,0,0],
+    [0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0,1,0,1,0],
+]
+
+#设置起始点和终点
+org = Node(22, 0)
+des = Node(0, 22)
+
+result_node = A_star(org, des)
+
+path = []
+
+minpath = result_node.g
+count=0
+
+while result_node is not None:
+    path.append(Node(result_node.x, result_node.y))
+    if result_node.parent is not None:
+        if abs(result_node.x - result_node.parent.x) + abs(result_node.y - result_node.parent.y) == 2:
+            count+=1
+    result_node = result_node.parent
+
+minpath-=count*6
+
+for i in range(0,len(MAZE)):
+    for j in range(0,len(MAZE[0])):
+        if Is_contain(path, i, j):
+            MAZE[i][j]='*'
+            print("*, ", end='')
+        else:
+            print(str(MAZE[i][j]) + ", ", end='')
+    print()
+print("最短路为：",minpath)
+draw_path(MAZE,path)
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