clc
clear

%初始化地形
h=??[1000??800??900??1000??900??700??1100??900??1000??1200??1100
?????800??600??800??1000??900??800??600???1100??1200??1300??1400
?????700??700??900??700???900??800??600???600???900???1100??1000
?????500??600??700??900???800??900???800???900???1000??800???900
?????800??600??900??1000??900??1000??700???1000??1200??900???800
?????500??700??800??1100??900???800??1100??1000???900???1200??1100
?????700??600??900??1300??1200??1400??1200??1000??1200??800??1200
?????900??1100??900??1200?1500??1200??1300??900???1200??1100??1300
?????600??800??900??800???1000??1200??900???1100???1000??900??900
?????900??800??600??900???800??800???800???1100???800??1100??1000
?????600??900??1000??800??800??600???900???1200???900??1100??600];
h=h./10;


%%?第1輪分解，形成21*21矩陣
%X:135...21
for?i=1:11
????for?j=1:11
????????h1（2*i-1j）=h（ij）;
????end
end

%X:246...20
for?i=1:10
????for?j=1:11
????????h1（2*ij）=（h1（2*i-1j）+h1（2*i+1j））/2;
????end
end

%Y:135...21
for?i=1:21
????for?j=1:11
????????h2（i2*j-1）=h1（ij）;
????end
end
?
%Y:246...20
for?i=1:21
????for?j=1:10
????????h2（i2*j）=（h2（i2*j-1）+h2（i2*j+1））/2;
????end
end

%%?第2輪分解，形成41*41矩陣
%X:135...41
for?i=1:21
????for?j=1:21
????????h3（2*i-1j）=h2（ij）;
????end
end

%X:246...40
for?i=1:20
????for?j=1:21
????????h3（2*ij）=（h3（2*i-1j）+h3（2*i+1j））/2;
????end
end

%Y:135...41
for?i=1:41
????for?j=1:21
????????h4（i2*j-1）=h3（ij）;
????end
end
?
%Y:246...40
for?i=1:41
????for?j=1:20
????????h4（i2*j）=（h4（i2*j-1）+h4（i2*j+1））/2;
????end
end
z=h4;?%?初始地形，地形柵格頂點的高程

%%
x=1:41;?
y=1:41;
figure（‘name‘‘地形‘）;
mesh（x*5y*5z）;%生成三維網格圖同mesh（xyz（xy））和mesh（xyz（yx））
axis（[021002100200]）;
hold?on
xlabel（‘X:m‘）;
ylabel（‘Y:m‘）;
zlabel（‘Z:m‘）;

zx=zeros（4040）;%計算地形柵格的中心點高程
gx=zeros（4040）;%以四領域計算地形柵格的中心點高程
tabu=ones（4040）;

%輪式車輛
dimao=[?
0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	1	0.8	0.8	0.8	0.2	0.2	0.2	0.2	0.2	0.2	0.2	0.2	0.2
0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	1	0.8	0.8	0.8	0.2	0.2	0.2	0.2	0.2	0.2	0.2	0.2	0.2
0.8	0.8	0.8	0.4	0.4	0.4	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	1	1	0.8	0.8	0.8	0.2	0.2	0.2	0.2	0.2	0.2	0.2	0.2	0.2
0.8	0.8	0.8	0.4	0.4	0.4	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	1	1	0.8	0.8	0.8	0.8	0.2	0.2	0.2	0.2	0.2	0.2	0.2	0.2	0.2
0.8	0.8	0.4	0.4	0.4	0.4	0.4	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	1	1	0.8	0.8	0.8	0.1	0.1	0.1	0.2	0.2	0.2	0.2	0.2	0.2	0.2
0.8	0.8	0.4	0.4	0.4	0.4	0.4	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.1	0.8	1	0.1	0.1	0.8	0.8	0.1	0.1	0.1	0.2	0.2	0.2	0.2	0.2	0.2	0.2
0.8	0.4	0.4	0.4	0.4	0.4	0.4	0.4	0.4	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.8	0.1	0.1	0.1	0.1	0.1	1	0.1	0.1	0.8	0.8	0.1	0.1	0.1	0.1	0

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????16580??2012-11-01?14:45??27A_Star_最少時\data.m

?????文件???????1895??2013-02-22?09:32??27A_Star_最少時\expand_array.m

?????文件???????6039??2012-11-01?15:08??27A_Star_最少時\HeightData.mat

?????文件???????8242??2013-02-22?09:41??27A_Star_最少時\main.m

?????文件???????1176??2013-02-19?08:37??27A_Star_最少時\min_fn.m

?????文件?????236278??2013-02-22?09:40??27A_Star_最少時\最少時.bmp

?????文件?????236278??2013-02-19?10:39??27A_Star_最少時\最短路.bmp

?????目錄??????????0??2013-02-26?14:56??27A_Star_最少時

-----------?---------??----------?-----??----

???????????????506488????????????????????8