class RrtGa:
'''
结合RRT和GA算法来
解决路径规划问题
输入图，遗传算法的一些参数
'''
def __init__(self, my_map):
self.map = my_map
self.pop_num = 20 # 种群数量
self.rrt = RRT(self.map)
self.mutate_rate = 0.0001 # 突变概率
self.iterations = 100
self.cross_rate = 0.9
def init_pop(self):
paths = []
for _ in range(self.pop_num):
path = self.rrt.find_path()
paths.append(path)
return paths
def find_path(self):
self.pop = self.init_pop() # 生成初始种群
self.fits = [self.map.get_fitness(path)
for path in self.pop] # 计算初始种群的fitness值
for iteration in range(self.iterations):
pass
