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https://github.com/zhm-real/PathPlanning.git
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zhm-real
71 lines
1.3 KiB
Python
71 lines
1.3 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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@author: huiming zhou
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"""
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x_range, y_range = 51, 31 # size of background
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def obs_map():
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"""
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Initialize obstacles' positions
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:return: map of obstacles
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"""
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obs = []
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for i in range(x_range):
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obs.append((i, 0))
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for i in range(x_range):
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obs.append((i, y_range - 1))
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for i in range(y_range):
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obs.append((0, i))
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for i in range(y_range):
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obs.append((x_range - 1, i))
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for i in range(10, 21):
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obs.append((i, 15))
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for i in range(15):
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obs.append((20, i))
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for i in range(15, 30):
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obs.append((30, i))
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for i in range(16):
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obs.append((40, i))
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return obs
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def lose_map():
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"""
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Initialize losing states' positions
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:return: losing states
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"""
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lose = []
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for i in range(25, 36):
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lose.append((i, 13))
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return lose
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def get_reward(x_next, xG, lose):
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"""
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calculate reward of next state
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:param x_next: next state
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:return: reward
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"""
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reward = []
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for x in x_next:
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if x in xG:
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reward.append(10) # reward : 10, for goal states
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elif x in lose:
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reward.append(-10) # reward : -10, for lose states
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else:
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reward.append(0) # reward : 0, for other states
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return reward |