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以下是一个将 A* 算法与卷积神经网络（CNN）结合实现路径规划的代码示例。主要思路是使用 A* 算法生成训练数据，然后用这些数据训练一个 CNN 模型，让 CNN 学习如何预测路径，最后使用训练好的 CNN 模型进行路径规划。

代码实现

import numpy as np
import heapq
import torch
import torch.nn as nn
import torch.optim as optim
from torch.utils.data import Dataset, DataLoader# A* 算法实现
class Node:def __init__(self, x, y, g=float('inf'), h=float('inf'), parent=None):self.x = xself.y = yself.g = gself.h = hself.f = g + hself.parent = parentdef __lt__(self, other):return self.f < other.fdef heuristic(current, goal):return abs(current[0] - goal[0]) + abs(current[1] - goal[1])def astar(grid, start, goal):rows, cols = grid.shapeopen_list = []closed_set = set()start_node = Node(start[0], start[1], g=0, h=heuristic(start, goal))heapq.heappush(open_list, start_node)while open_list:current_node = heapq.heappop(open_list)if (current_node.x, current_node.y) == goal:path = []while current_node:path.append((current_node.x, current_node.y))current_node = current_node.parentreturn path[::-1]closed_set.add((current_node.x, current_node.y