%%?%?set?up?color?map?for?display?
clc;
clear;
cmap?=?[1?1?1;?...%?1?-?white?-?clear?cell?
????????0?0?0;?...%?2?-?black?-?obstacle?
????????1?0?0;?...%?3?-?red?=?visited?
????????0?0?1;?...%?4?-?blue?-?on?list?
????????0?1?0;?...%?5?-?green?-?start?
????????1?1?0];%?6?-?yellow?-?destination?
colormap（cmap）;?
map?=?zeros（100）;?
%?Add?an?obstacle?
map?（30:35?40:75）?=?2;?
map?（70:75?40:75）?=?2;
map?（36:69?71:74）?=?2;?
startrow=60;
startcol=20;
tagrow=40;
tagcol=80;
map（startrowstartcol）?=?5;?%?start_coords?
map（tagrowtagcol）?=?6;?%?dest_coords?
image（1.51.5map）;?
grid?on;?
axis?image;?

%?%?%?%?%%?%?%?%?%?%?%?%init?value%?%?%?%?%?%%?%?%?%?%?%
distancemap=inf（length（map））;
distancemapselect=inf（length（map））;
Finaldistancemap=inf（length（map））;


current=sub2ind（size（map）startrowstartcol）;
distancemap（current）=0;
distancemapselect（current）=0;
Finaldistancemap（current）=0;
start_node?=?sub2ind（size（map）startrowstartcol）;?
dest_node?=?sub2ind（size（map）?tagrowtagcol）;?
neighbor=[01;0-1;10;-10];

openlist=struct（‘row‘0‘col‘0‘dist‘0‘father‘0）;
closelist=struct（‘row‘0‘col‘0‘dist‘0‘father‘0）;

openlist（1）.row=12;
openlist（2）.row=4;
neighborlen=length（neighbor）;
min_dist=0;
[nrowsncols]=size（map）;
BreakFlag=0;
Hvalue=0;
Gvalue=0;
?
%?%?%?%?%?%?%?%?%?%?%?%?%?%?%?%?%?%?%?%?%?%?%?%?%%?%?%?%?%?%
while?BreakFlag~=1
?image（1.5?1.5?map）;?
?grid?on;?
?axis?image;?
?drawnow;?
?[~current]=min（distancemapselect（:））;
min_dist=distancemap（current）;
%??[min_distindex]=min（distancemap（:））;
?[m?n]?=?ind2sub（size（distancemapselect）current）;
neighbor=[mn+1;...
??????????mn-1;...
??????????m+1n;...
??????????m-1n];
outRangetest?=?（neighbor（:1）<1）?+?（neighbor（:1）>nrows）?+...
???????????????????（neighbor（:2）<1）?+?（neighbor（:2）>ncols?）?;
locate?=?find（outRangetest>0）;?
neighbor（locate:）=[];?

for?i=1:length（neighbor）
????
?neighborsub=sub2ind（size（map）neighbor（i1）neighbor（i2））;
?if?neighborsub==dest_node
????BreakFlag=1;
????distancemap（neighborsub）=min_dist+1;?
????Finaldistancemap（neighborsub）=min_dist+1;
????closelist（dest_node）.father=current;
?????break;????
?end?
if?map（neighborsub）~=2&&map（neighborsub）~=5&&map（neighborsub）~=6
[openlist（i）.rowopenlist（i）.row]=ind2sub（size（map）neighborsub）;
openlist（i）.dist=min_dist+1;
if?Finaldistancemap（neighborsub）==inf
distancemap（neighborsub）=min_dist+1;?
Hvalue=abs（tagrow-neighbor（i1））+abs（tagcol-neighbor（i2））;
distancemapselect（neighborsub）=distancemap（neighborsub）+Hvalue;
Finaldistancemap（neighborsub）=min_dist+1;
map（neighborsub）=3;
closelist（neighborsub）.father=current;
end

end
????
end
distancemap（current）=inf;
distancemapselect（current）=inf;
end
path=0;
pathindx=dest_node;
for?i=1:Finaldistancemap（dest_node）

path=[pathcloselist（pathindx）.father];
pathindx=closelist（pathindx）.father;
end
????????for?k?=?2:length（path）?-?1?
??????????map（path（k））?=?7;?
????????????????paus

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????3121??2018-11-29?17:07??AstarCsl.m
?????文件????????2735??2018-11-29?00:26??Dijkstra.m