我有一个简单的Astar搜索模型，可以找到指定目的地的最佳路径。它适用于所有海龟 - 但是，它一次只能这样做。我希望通过让所有海龟同时在搜索空间（find-a-path）中创建/迭代来拥有多只海龟（船只）时加快我的模拟速度。
下面我附上了我称之为代码的部分代码。有没有办法可以修改我当前的代码来支持这个？非常感谢任何帮助，谢谢。
to find-shortest-path-to-destination
place-turtles
label-destination
ask ships
[
set path find-a-path current-waypoint target-waypoint
set optimal-path path
set current-path path
output-show (word "Shortest Path Length: " length optimal-path " (" "LP: " land-prox "," " LPW: " land-prox-weight ")")
]
end
to-report find-a-path [ source-patch destination-patch]
; initialize all variables to default values
let search-done? false
let search-path []
let current-patch 0
set open []
set closed []
; add source patch in the open list
set open lput source-patch open
; loop until we reach the destination or the open list becomes empty
while [ search-done? != true]
[
ifelse length open != 0
[
; sort the patches in open list in increasing order of their f() values
set open sort-by [[f] of ?1 < [f] of ?2] open
; take the first patch in the open list
; as the current patch (which is currently being explored (n))
; and remove it from the open list
set current-patch item 0 open
set open remove-item 0 open
; add the current patch to the closed list
set closed lput current-patch closed
; explore the neighbours of the current patch
ask current-patch
[
; if any of the neighbours is the destination stop the search process
ifelse any? neighbors with [ (pxcor = [ pxcor ] of destination-patch) and (pycor = [pycor] of destination-patch)]
[
set search-done? true
]
[
; the neighbors should not be obstacles or already explored patches (part of the closed list)
ask neighbors with [ elev <= min-depth and (not member? self closed) and (self != parent-patch) ]
[
; the neighbors to be explored should also not be the source or
; destination patches or already a part of the open list (unexplored patches list)
if not member? self open and self != source-patch and self != destination-patch
[
set pcolor gray + 1
; add the eligible patch to the open list
set open lput self open
; update the path finding variables of the eligible patch
set parent-patch current-patch
set g [g] of parent-patch + 1
set h distance destination-patch
set f (g + h)
]
]
]
if self != source-patch
[
]
]
]
[
; if a path is not found (search is incomplete) and the open list is exhausted
; display a user message and report an empty search path list.
user-message( "A path from the source to the destination does not exist." )
report []
]
]
; if a path is found (search completed) add the current patch
; (node adjacent to the destination) to the search path.
set search-path lput current-patch search-path
; trace the search path from the current patch
; all the way to the source patch using the parent patch
; variable which was set during the search for every patch that was explored
let temp first search-path
while [ temp != source-patch ]
[
ask temp
[
set pcolor white
]
set search-path lput [parent-patch] of temp search-path
set temp [parent-patch] of temp
]
; add the destination patch to the front of the search path
set search-path fput destination-patch search-path
; reverse the search path so that it starts from a patch adjacent to the
; source patch and ends at the destination patch
set search-path reverse search-path
; report the search path
report search-path
end