function?astardemo
%ASTARDEMO?Demonstration?of?ASTAR?algorithm


n?=?20;???%?柵格為20x20的環境模型
wallpercent?=?0.5;??%?this?percent?of?field?is?walls

%?create?the?n?x?n?FIELD?with?wallpercent?walls?containing?movement?costs?
%?a?starting?position?STARTPOSIND?a?goal?position?GOALPOSIND?the?costs?
%?A?star?will?compute?movement?cost?for?each?tile?COSTCHART?
%?and?a?matrix?in?which?to?store?the?pointers?FIELDPOINTERS
%[field?startposind?goalposind?costchart?fieldpointers]?=?...
?%?initializeField（nwallpercent）;
[field?startposind?goalposind?costchart?fieldpointers]?=?...
initializeField（nwallpercent）;
%?initialize?the?OPEN?and?CLOSED?sets?and?their?costs
setOpen?=?[startposind];?setOpenCosts?=?[0];?setOpenHeuristics?=?[Inf];
setClosed?=?[];?setClosedCosts?=?[];
movementdirections?=?{‘R‘‘L‘‘D‘‘U‘‘UR‘‘UL‘‘DL‘‘DR‘};

%?keep?track?of?the?number?of?iterations?to?exit?gracefully?if?no
%?solution（如果沒有解決方案保留迭代數目然后退出）
counterIterations?=?1;

%?create?figure?so?we?can?witness?the?ma

?屬性????????????大小?????日期????時間???名稱
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?????文件???????13504??2020-11-15?06:37??astardemo.m