如何找到拾取所有物体的最短路径？

Question

我正在使用机器人来拾取一些对象，粉红色的点表示他必须拾取对象的位置，所以我用python创建了一个窗口以向我展示我的机器人在哪里，红色正方形是机器人灰色的是墙壁here is the window

下一步是找到最短的路径来拾取所有对象，我真的不知道该怎么做

这是我尝试的代码，但我正在寻找更好的解决方案

inf = float('inf')
Edge = namedtuple('Edge', 'start, end, cost')
def make_edge(start, end, cost=1):
  return Edge(start, end, cost)
class Graph:
    def __init__(self, edges):
        # let's check that the data is right
        wrong_edges = [i for i in edges if len(i) not in [2, 3]]
        if wrong_edges:
            raise ValueError('Wrong edges data: {}'.format(wrong_edges))
        self.edges = [make_edge(*edge) for edge in edges]
    @property
    def vertices(self):
        return set(
            sum(
                ([edge.start, edge.end] for edge in self.edges), []
            )
        )
    def get_node_pairs(self, n1, n2, both_ends=True):
        if both_ends:
            node_pairs = [[n1, n2], [n2, n1]]
        else:
            node_pairs = [[n1, n2]]
        return node_pairs
    def remove_edge(self, n1, n2, both_ends=True):
        node_pairs = self.get_node_pairs(n1, n2, both_ends)
        edges = self.edges[:]
        for edge in edges:
            if [edge.start, edge.end] in node_pairs:
                self.edges.remove(edge)
    def add_edge(self, n1, n2, cost=1, both_ends=True):
        node_pairs = self.get_node_pairs(n1, n2, both_ends)
        for edge in self.edges:
            if [edge.start, edge.end] in node_pairs:
                return ValueError('Edge {} {} already exists'.format(n1, n2))
        self.edges.append(Edge(start=n1, end=n2, cost=cost))
        if both_ends:
            self.edges.append(Edge(start=n2, end=n1, cost=cost))
    @property
    def neighbours(self):
        neighbours = {vertex: set() for vertex in self.vertices}
        for edge in self.edges:
            neighbours[edge.start].add((edge.end, edge.cost))
        return neighbours
    def dijkstra(self, source, dest):
        assert source in self.vertices, 'Such source node doesn\'t exist'
        distances = {vertex: inf for vertex in self.vertices}
        previous_vertices = {
            vertex: None for vertex in self.vertices
        }
        distances[source] = 0
        vertices = self.vertices.copy()
        while vertices:
            current_vertex = min(
                vertices, key=lambda vertex: distances[vertex])
            vertices.remove(current_vertex)
            if distances[current_vertex] == inf:
                break
            for neighbour, cost in self.neighbours[current_vertex]:
                alternative_route = distances[current_vertex] + cost
                if alternative_route < distances[neighbour]:
                    distances[neighbour] = alternative_route
                    previous_vertices[neighbour] = current_vertex
        path, current_vertex = deque(), dest
        while previous_vertices[current_vertex] is not None:
            path.appendleft(current_vertex)
            current_vertex = previous_vertices[current_vertex]
        if path:
            path.appendleft(current_vertex)
        return path
thing = [
    ["a0", "b0", 2], ["a0", "a1", 1],
    ["a1", "a2", 1], ["a2", "a3", 1],
    ["a3", "a4", 1], ["a4", "b4", 2],

    ["b0", "c0", 2], ["b0", "b1", 1],
    ["b1", "b2", 1], ["b2", "b3", 1],
    ["b3", "b4", 1], ["b4", "c4", 2],

    ["c0", "c1", 1], ["c1", "c2", 1],
    ["c2", "c3", 1], ["c3", "c4", 1],

    ["a4", "a5", 1],
    ["a5", "a6", 1], ["a6", "a7", 1],
    ["a7", "a8", 1], ["a8", "b8", 2],

    ["b4", "b5", 1],
    ["b5", "b6", 1], ["b6", "b7", 1],
    ["b7", "b8", 1], ["b8", "c8", 2],

    ["c4", "c5", 1], ["c5", "c6", 1],
    ["c6", "c7", 1], ["c7", "c8", 1]]
other=[]
for i in thing:
    a=[]
    a.append(i[1])
    a.append(i[0])
    a.append(i[2])
    other.append(a)

result = thing + other
graph = Graph(result)

NumberOfThings = int(input('how many things would you like to pick ? '))
ThingsToPick=[]
for i in range(0, NumberOfThings):
    name=input(' - ')
    ThingsToPick.append(name)

ThingsToPick.sort()
WhereToStart = ['a0'] + ThingsToPick

result = itertools.permutations(WhereToStart[2:])

SumUp = []

for item in result:
    permu= WhereToStart[:2] + list(item)
    len=permu.__len__()
    way=[]
    for i in range(0,len-1):
        for j in list(graph.dijkstra(permu[i], permu[i+1])):
            way.append(j)
    SumUp.append(list(way))

listeareduire=min(SumUp, key=lambda x: x.__len__())

print(listeareduire)