function?[xy]?=?checking（AabXY）;
%?Usable?to?mobile?robot?navigation?problem
%?b
%?^
%?|?A（ab）
%
%?A13?A23?A33
%?A12?X?A32
%?A11?A21?A31?->?a
A11?=?50000;
A12?=?50000;
A13?=?50000;
A21?=?50000;
A23?=?50000;
A31?=?50000;
A32?=?50000;
A33?=?50000;
if?（a>=2）&（b>=2）&（aA11?=?A（a-1b-1）;
A21?=?A（ab-1）;
A31?=?A（a+1b-1）;
A12?=?A（a-1b）;
A32?=?A（a+1b）;
A13?=?A（a-1b+1）;
A23?=?A（ab+1）;
A33?=?A（a+1b+1）;
elseif?（a>=2）&（b>=2）&（aA11?=?A（a-1b-1）;
A21?=?A（ab-1）;
A31?=?A（a+1b-1）;
A12?=?A（a-1b）;
A32?=?A（a+1b）;
elseif?（a>=2）&（aA12?=?A（a-1b）;
A32?=?A（a+1b）;
A13?=?A（a-1b+1）;
A23?=?A（ab+1）;
A33?=?A（a+1b+1）;
elseif?（a>=2）&（b>=2）&（bA11?=?A（a-1b-1）;
A21?=?A（ab-1）;
A12?=?A（a-1b）;
A13?=?A（a-1b+1）;
A23?=?A（ab+1）;
elseif?（b>=2）&（aA21?=?A（ab-1）;
A31?=?A（a+1b-1）;
A32?=?A（a+1b）;
A23?=?A（ab+1）;
A33?=?A（a+1b+1）;
elseif?（a==1）&（b==1）
A32?=?A（a+1b）;
A23?=?A（ab+1）;
A33?=?A（a+1b+1）;
elseif?（a==X）&（b==1）
A12?=?A（a-1b）;
A13?=?A（a-1b+1）;
A23?=?A（ab+1）;
elseif?（a==1）&（b==Y）
A21?=?A（ab-1）;
A31?=?A（a+1b-1）;
A32?=?A（a+1b）;
elseif?（a==X）&（b==Y）
A11?=?A（a-1b-1）;
A21?=?A（ab-1）;
A12?=?A（a-1b）;
elseif?（a==1）
A21?=?A（ab-1）;
A23?=?A（ab+1）;
A31?=?A（a+1b-1）;
A32?=?A（a+1b）;
A33?=?A（a+1b+1）;
elseif?（a==X）
A21?=?A（ab-1）;
A23?=?A（ab+1）;
A11?=?A（a-1b-1）;
A12?=?A（a-1b）;
A13?=?A（a-1b+1）;
elseif?（b==1）
A12?=?A（a-1b）;
A13?=?A（a-1b+1）;
A23?=?A（ab+1）;
A32?=?A（a+1b）;
A33?=?A（a+1b+1）;
elseif?（b==Y）
A11?=?A（a-1b-1）;
A21?=?A（ab-1）;
A31?=?A（a+1b-1）;
A12?=?A（a-1b）;
A32?=?A（a+1b）;
end
%?A13?A23?A33
%?A12?X?A32
%?A11?A21?A31?=>a
if?（A11x=a-1;
y=b-1;
elseif?（A21x=a;
y=b-1;
elseif?（A31x=a+1;
y=b-1;
elseif?（A12x=a-1;
y=b;
elseif?（A32x=a+1;
y=b;
elseif?（A13x=a-1;
y=b+1;
elseif?（A23x=a;
y=b+1;
else
x=a+1;
y=b+1;
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????2206??2010-12-10?22:03??CD_?Robotic?2011\Matlab?file\checking.m
?????文件???????73628??2010-12-31?21:18??CD_?Robotic?2011\Matlab?file\face.jpg
?????文件???????10315??2010-12-31?19:44??CD_?Robotic?2011\Matlab?file\fpp.fig
?????文件???????13559??2010-12-16?13:47??CD_?Robotic?2011\Matlab?file\fpp.m
?????文件????????1444??2010-12-16?03:59??CD_?Robotic?2011\Matlab?file\getpath.m
?????文件?????????337??2010-12-16?03:59??CD_?Robotic?2011\Matlab?file\mmap.m
?????文件??????370047??2011-01-02?19:51??CD_?Robotic?2011\PPT\Path?Planning.pdf
?????文件?????1603695??2011-01-02?19:51??CD_?Robotic?2011\PPT\Path?Planning.pptx
?????文件?????????140??2011-01-02?19:50??CD_?Robotic?2011\Read?Me.txt
?????文件?????2348791??2011-01-02?15:04??CD_?Robotic?2011\Report\Path?planning?algorithm.docx
?????文件?????1627450??2011-01-02?19:45??CD_?Robotic?2011\Report\Path?planning?algorithm.pdf
?????文件????????1305??2014-02-12?13:22??license.txt