%?Astar?algorithm?of?route?plannin4g
%?Copyright（c）?2009-2014?by?Chenglong?Xu?All?rights?reserved.
%?Northeastern?University?Shenyang?China
%?2018/6/6?14:36:03
function?Path_AstarB_Evo1
clc;
clear;
close?all;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%讀入地圖
img=imread（‘12.png‘）;
[rowscolschannel]=size（img）;
for?i=1:rows
????for?j=1:cols
??????if?img（ij1）<=40&&img（ij2）>=230&&img（ij3）<=40%Start點
???????StartP（11）=i;?StartP（12）=j;
??????end
??????if?230<=img（ij1）&&img（ij2）<=40&&img（ij3）<=40%End點
???????EndP（11）=i;?EndP（12）=j;
??????end
????end
end
thresh=graythresh（img）;
im=im2bw（imgthresh）;%01二維地圖
map?=?ones（rowscols）;?%img為二值化矩陣，不能直接改變需定義中間map矩陣
ow=0.5;%顏色中心
for?i=1:rows
????for?j=1:cols
??????if?im（ij）==0
?????????map（ij）