%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?A*?ALGORITHM
%?04-26-2005
%?Vivian?Paul?
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%DEFINE?THE?2-D?MAP?ARRAY
MAX_X=10;
MAX_Y=10;
MAX_VAL=10;
OPEN_COUNT=0;
CLOSED_COUNT=0;
%This?array?stores?the?coordinates?of?the?map?and?the?
%objects?in?each?coordinate
MAP=2*（ones（MAX_XMAX_Y））;

%?Obtain?Obstacle?Target?and?Robot?Position
%?Initialize?the?MAP?with?input?values
%?Obstacle=-1Target?=?0Robot=1Space=2
i=0;j=0;
x_val?=?1;
y_val?=?1;
axis（[1?MAX_X+1?1?MAX_Y+1]）
grid?on;
hold?on;
n=0;%Number?of?Obstacles

pause（1）;
h=msgbox（‘Please?Select?the?Target?using?the?Left?Mouse?button‘）;
uiwait（h5）;
if?ishandle（h）?==?1
????delete（h）;
end
xlabel（‘Please?Select?the?Target?using?the?Left?Mouse?button‘‘Color‘‘black‘）;
but=0;
while?（but?~=?1）?%Repeat?until?the?Left?button?is?not?clicked
????[xvalyvalbut]=ginput（1）;
end
xval=floor（xval）;
yval=floor（yval）;
xTarget=xval;%X?Coordinate?of?the?Target
yTarget=yval;%Y?Coordinate?of?the?Target

MAP（xvalyval）=0;%Initialize?MAP?with?location?of?the?target
plot（xval+.5yval+.5‘gd‘）;
text（xval+1yval+.5‘Target‘）

pause（2）;
h=msgbox（‘Select?Obstacles?using?the?Left?Mouse?buttonto?select?the?last?obstacle?use?the?Right?button‘）;
??xlabel（‘Select?Obstacles?using?the?Left?Mouse?buttonto?select?the?last?obstacle?use?the?Right?button‘‘Color‘‘blue‘）;
uiwait（h10）;
if?ishandle（h）?==?1
????delete（h）;
end
while?but?==?1
????[xvalyvalbut]?=?ginput（1）;
????xval=floor（xval）;
????yval=floor（yval）;
????MAP（xvalyval）=-1;%Put?on?the?closed?list?as?well
????plot（xval+.5yval+.5‘ro‘）;
?end%End?of?While?loop
?
pause（1）;

h=msgbox（‘Please?Select?the?Vehicle?initial?position?using?the?Left?Mouse?button‘）;
uiwait（h5）;
if?ishandle（h）?==?1
????delete（h）;
end
xlabel（‘Please?Select?the?Vehicle?initial?position?‘‘Color‘‘black‘）;
but=0;
while?（but?~=?1）?%Repeat?until?the?Left?button?is?not?clicked
????[xvalyvalbut]=ginput（1）;
????xval=floor（xval）;
????yval=floor（yval）;
end
xStart=xval;%Starting?Position
yStart=yval;%Starting?Position
MAP（xvalyval）=1;
?plot（xval+.5yval+.5‘bo‘）;
%End?of?obstacle-Target?pickup

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%LISTS?USED?FOR?ALGORITHM
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%OPEN?LIST?STRUCTURE
%--------------------------------------------------------------------------
%IS?ON?LIST?1/0?|X?val?|Y?val?|Parent?X?val?|Parent?Y?val?|h（n）?|g（n）|f（n）|
%--------------------------------------------------------------------------
OPEN=[];
%CLOSED?LIST?STRUCTURE
%--------------
%X?val?|?Y?val?|
%--------------
%?CLOSED=zeros（MAX_VAL2）;
CLOSED=[];

%Put?all?obstacles?on?the?Closed?list
k=1;%Dummy?counter
for?i=1:MAX_X
????for?j=1:MAX_Y
????????if（MAP（ij）?==?-1）
????????????CLOSED（k1）=i;
????????????CLOSED（k2）=j;
???????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????7288??2005-04-28?16:13??Astar\A_star1.m

?????文件????????156??2005-04-28?16:13??Astar\distance.m

?????文件???????1870??2005-04-28?16:13??Astar\expand_array.m

?????文件????????543??2005-04-28?16:13??Astar\insert_open.m

?????文件???????1051??2005-04-28?16:13??Astar\min_fn.m

?????文件????????206??2005-04-28?16:13??Astar\node_index.m

?????目錄??????????0??2010-09-15?10:37??Astar

-----------?---------??----------?-----??----

????????????????11114????????????????????7