Spoint?=?[3?3];?%起點
Epoint?=?[29?22];%終點
m=30;
n=30;
%%地圖
for?i?=?1:m+2
????if?i?==?1
????????for?j?=?1:n+2
????????????Matrix（ij）?=?-inf;
????????end
????elseif?i?==?m+2
????????for?j?=?1:n+2
????????????Matrix（ij）?=?-inf;
????????end
????else
????????for?j?=?1:n+2
????????????if?（（j?==?1）||（j?==?n+2））
????????????????Matrix（ij）?=?-inf;
????????????else
????????????????Matrix（ij）?=?inf;
????????????end
????????end
????end
end
%%障礙
for?j=2:10
????Matrix（5j）=-inf;
for?j=2:15
?????Matrix（24j）=-inf;
for?j=9:24
?????Matrix（10j）=-inf;
for?j=20:31
????Matrix（15j）=-inf;
for?j=5:20
????Matrix（20j）=-inf;
for?j=18:27
????Matrix（28j）=-inf;
for?i=2:6??
????Matrix（i18）=-inf;
for?i=17:20
??????Matrix（i5）=-inf;
for?i=23:25?
?????Matrix（i20）=-inf;
fo