function[openclose]=Astar（map）
map=[0030300;0303000]
%?plot（map（1:）map（2:））
%?axis?（[0?30?0?30]）
[rowcol]=size（map）;
close=struct（‘row‘-1‘col‘-1‘g‘0‘h‘0）;%????????????????????????
closelen=1;
open=struct（‘row‘-1‘col‘-1‘g‘-1‘h‘-1）;%????????????????????????
openlen=0;
bindex=1;
for?k=1:row
???for?j=1:col
???????if?map（kj）==1
????????????barrierrow（bindex）=-k;
????????????barriercol（bindex）=j;
????????????bindex=bindex+1;
???????end
???end
end
%????????????
for?i=1:row
???for?j=1:col
???????if?map（ij）==2
????????????endrow=i;
????????????endcol=j;
???????????break;
???????end
???end
end
%????????????????????close
for?i=1:row
???for?j=1:col
?????if?map（ij）==5
??????????startrow=i;
??????????startcol=j;
??????????close（1）.row=i;
??????????close（1）.col=j;
?????????break;
?????end
???end
end
%??????????????????open
%????????
direct=[0?-1;0?1;-1?0;1?0];
for?i=1:4
???if?all（[close（1）.rowclose（1）.col]+direct（i:）>0）?&&?close（1）.row+direct（i1）<=row?&&?close（1）.col+direct（i2）<=col?&&?map（close（1）.row+direct（i1）close（1）.col+direct（i2））~=1
????????open（openlen+1）.row=close（1）.row+direct（i1）;
????????open（openlen+1）.col=close（1）.col+direct（i2）;
????????openlen=openlen+1;
???????%????g??????h????????
????????open（openlen）.g=1;
????????open（openlen）.h=abs（endrow-open（openlen）.row）+abs（endcol-open（openlen）.col）;
???end
end
%?close
%?open.h
?
%????????open??colse????????????????????????????????????
while?openlen>0
???%????????????g+h????open????????
????min?=?realmax;
???for?i=1:openlen
???????if?open（i）.g+open（i）.h<=min
????????????min=open（i）.g+open（i）.h;
????????????sindex=i;
???????end
???end
???
???%??s????????close????????open??
????close（closelen+1）.row=open（sindex）.row;
????close（closelen+1）.col=open（sindex）.col;
????close（closelen+1）.g=open（sindex）.g;
????close（closelen+1）.h=open（sindex）.h;
????closelen=closelen+1;
%?????openlen=openlen-1;
%?????for?i=sindex:openlen
%?????????open（i）