如何在生成随机障碍物的网格中随机设置起始点和结束点？

Question

我构建了一个grid，它为寻路算法生成random obstacles，但使用fixed starting and ending points，如下面的sn-p所示：

import random
import numpy as np

#grid format
# 0 = navigable space
# 1 = occupied space

x = [[random.uniform(0,1) for i in range(50)]for j in range(50)]
grid = np.array([[0 for i in range(len(x[0]))]for j in range(len(x))])

for i in range(len(x)):
    for j in range(len(x[0])):
        if x[i][j] <= 0.7:
            grid[i][j] = 0
        else:
            grid[i][j] = 1


init = [5,5]       #Start location 
goal = [45,45]     #Our goal 

# clear starting and end point of potential obstacles
def clear_grid(grid, x, y):
    if x != 0 and y != 0:
        grid[x-1:x+2,y-1:y+2]=0
    elif x == 0 and y != 0:
        grid[x:x+2,y-1:y+2]=0
    elif x != 0 and y == 0:
        grid[x-1:x+2,y:y+2]=0
    elif x ==0 and y == 0:
        grid[x:x+2,y:y+2]=0

clear_grid(grid, init[0], init[1])
clear_grid(grid, goal[0], goal[1])

我每次运行代码时都需要生成starting and ending points randomly，而不是修复它们。我怎么能做到？请问有什么帮助吗？

Answer 1

替换，

init = [5,5]       #Start location 
goal = [45,45]     #Our goal 

与，

init = np.random.randint(0, high = 49, size = 2)
goal = np.random.randint(0, high = 49, size = 2)

假设您的网格从每个轴上的 0-49 开始。我个人会添加网格大小变量，i_length & j_length

编辑#1

i_length = 50
j_length = 50
x = [[random.uniform(0,1) for i in range(i_length)]for j in range(j_length)]
grid = np.array([[0 for i in range(i_length)]for j in range(j_length)])