%定義二維地圖數(shù)組
MAX_X=20;
MAX_Y=20;
MAX_VAL=1;
%此數(shù)組存儲(chǔ)地圖的坐標(biāo)和每個(gè)坐標(biāo)中的對(duì)象
MAP=2*（ones（MAX_XMAX_Y））;


%獲取障礙物、目標(biāo)和機(jī)器人位置初始化地圖，輸入障礙物為-1、目標(biāo)為0、機(jī)器人為1、空間為2
j=0;
x_val?=?1;
y_val?=?1;
axis?equal
axis（[1?MAX_X+1?1?MAX_Y+1]）?%用來標(biāo)注輸出的圖線的最大值最小值
set（gca‘XTick‘1:1:21）;
set（gca‘YTick‘1:1:21）;
grid?on;%顯示表格
hold?on;%當(dāng)前軸及圖像保持而不被刷新，準(zhǔn)備接受此后將繪制的圖形，多圖共存
n=0;%障礙物數(shù)量

%開始交互障礙物、目標(biāo)、開始位置選擇
pause（1）;
h=msgbox（‘請(qǐng)用鼠標(biāo)左鍵選擇目標(biāo)‘）;
uiwait（h5）;
if?ishandle（h）?==?1
????delete（h）;
end
xlabel（‘請(qǐng)用鼠標(biāo)左鍵選擇目標(biāo)‘‘Color‘‘green‘）;
but=0;
while?（but?==?0）?%重復(fù)，直到左鍵未被單擊為止
????[xvalyvalbut]=ginput（1）;
end
xval=floor（xval）;
yval=floor（yval）;
xTarget=xval;
yTarget=yval;

MAP（xvalyval）=0;%用目標(biāo)位置初始化映射
plot（xval+.5yval+.5‘gd‘）;
text（xval+1yval+.5‘Target‘）


pause（2）;
h=msgbox（‘用鼠標(biāo)左鍵選擇障礙物，用鼠標(biāo)右鍵選擇最后一個(gè)障礙物‘）;
??xlabel（‘用鼠標(biāo)左鍵選擇障礙物，用鼠標(biāo)右鍵選擇最后一個(gè)障礙物‘‘Color‘‘red‘）;
uiwait（h10）;
if?ishandle（h）?==?1
????delete（h）;
end
while?but?==?1
????[xvalyvalbut]?=?ginput（1）;
????xval=floor（xval）;
????yval=floor（yval）;
????MAP（xvalyval）=-1;
????rectangle（‘Position‘[xvalyval11]‘facecolor‘‘black‘）;
????
end



pause（1）;
h=msgbox（‘請(qǐng)用鼠標(biāo)左鍵選擇車輛初始位置‘）;
uiwait（h5）;
if?ishandle（h）?==?1
????delete（h）;
end
xlabel（‘請(qǐng)選擇車輛初始位置?‘‘Color‘‘blue‘）;
but=0;
while?（but?~=?1）?%重復(fù)，直到左鍵未被單擊為止
????[xvalyvalbut]=ginput（1）;
end
xval=floor（xval）;
yval=floor（yval）;
xStart=xval;%起始位置
yStart=yval;%起始位置
MAP（xvalyval）=1;
?plot（xval+.5yval+.5‘bo‘）;
%障礙物目標(biāo)拾取結(jié)束

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%用于算法的列表
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%開放列表結(jié)構(gòu)
%--------------------------------------------------------------------------
%IS?ON?LIST?1/0?|X?val?|Y?val?|Parent?X?val?|Parent?Y?val?|h（n）?|g（n）|f（n）|
%--------------------------------------------------------------------------
OPEN=[];

%封閉列表結(jié)構(gòu)
%--------------
%|X?val?|?Y?val?|
%--------------
%?CLOSED=zeros（MAX_VAL2）;
CLOSED=[];

%把所有的障礙都列在封閉的名單上
k=1;
for?i=1:MAX_X
????for?j=1:MAX_Y
????????if（MAP（ij）?==?-1）
????????????CLOSED（k1）=i;?
????????????CLOSED（k2）=j;?
????????????k=k+1;
????????end
????end
end
CLOSED_COUNT=size（CLOSED1）;
%將起始節(jié)點(diǎn)設(shè)置為第一個(gè)節(jié)點(diǎn)
xNode=xval;
yNode=yval;
OPEN_COUNT=1;
path_cost=0;
goal_distance=distance（xNodeyNodexTargetyTarget）;
OPEN（OPEN_COUNT:）=insert_open（xNodeyNodexNodeyNodepath_costgoal_distancegoal_distance）;%目標(biāo)坐標(biāo)，原坐標(biāo)，所需路徑，移動(dòng)前距離，移動(dòng)后距離
OPEN（OPEN_COUNT1）=0;
CLOSED_COUNT=CLOSED_COUNT+1;
CLOSED（CLOSED_COUNT1）=xNode;
CLOSED（CLOSED_COUNT2）=yNode;
NoPath=1;


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%啟動(dòng)算法
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
while（（xNode?~=?xTarget?||?yNode?~=?yTarget）?&&?NoPath?==?1）
%??plot（xNode+.5yNode+.5‘go‘）;
?exp_array=expand_array（xNodeyNodepath_costxTargetyTargetCLOSEDMAX_XMAX_Y

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件????????6823??2019-04-22?13:11??bizhang\bizhang.m
?????文件?????????201??2010-01-05?14:23??bizhang\distance.m
?????文件????????1690??2019-04-12?10:00??bizhang\expand_array.m
?????文件?????????400??2019-04-09?09:42??bizhang\insert_open.m
?????文件?????????889??2019-04-09?17:48??bizhang\min_fn.m
?????文件????????3637??2019-04-13?23:22??bizhang\move.m
?????文件?????????208??2019-04-09?22:45??bizhang\node_index.m
?????目錄???????????0??2019-04-22?13:12??bizhang\