基于matlab的路径规划算法代码
时间: 2023-07-26 21:38:25 浏览: 36
以下是一个简单的A*算法的MATLAB实现示例代码:
```matlab
% 初始化地图、起点、终点等信息
map = [0 1 0 0 0 0;
0 1 0 1 1 0;
0 1 0 0 1 0;
0 1 1 1 1 0;
0 0 0 0 0 0];
start = [1,1];
goal = [5,6];
% 初始化open列表和closed列表
openList = start;
closedList = [];
% 初始化起点的g值和f值
gScore = zeros(size(map));
fScore = zeros(size(map));
gScore(start(1), start(2)) = 0;
fScore(start(1), start(2)) = heuristic(start, goal);
% 循环查找路径
while ~isempty(openList)
% 从open列表中选择f值最小的节点
current = getLowestF(openList, fScore);
% 如果当前节点是终点,则返回路径
if isequal(current, goal)
path = reconstructPath(cameFrom, current);
break;
end
% 将当前节点从open列表中移除,加入到closed列表中
openList = removeCurrent(openList, current);
closedList = [closedList; current];
% 遍历当前节点的相邻节点
neighbors = getNeighbors(current, map);
for i=1:size(neighbors, 1)
neighbor = neighbors(i,:);
% 如果相邻节点已经在closed列表中,跳过
if any(ismember(closedList, neighbor, 'rows'))
continue;
end
% 计算相邻节点的g值和f值
tentativeGScore = gScore(current(1), current(2)) + 1;
if ~any(ismember(openList, neighbor, 'rows'))
openList = [openList; neighbor];
tentativeBetter = true;
elseif tentativeGScore < gScore(neighbor(1), neighbor(2))
tentativeBetter = true;
else
tentativeBetter = false;
end
if tentativeBetter
cameFrom(neighbor(1), neighbor(2), :) = current;
gScore(neighbor(1), neighbor(2)) = tentativeGScore;
fScore(neighbor(1), neighbor(2)) = gScore(neighbor(1), neighbor(2)) + heuristic(neighbor, goal);
end
end
end
```
在上面的代码中,`map`表示地图,`start`表示起点,`goal`表示终点。`getLowestF`函数用来获取open列表中f值最小的节点,`removeCurrent`函数用来从open列表中移除当前节点,`getNeighbors`函数用来获取当前节点的相邻节点,`heuristic`函数用来计算启发式函数,`reconstructPath`函数用来从终点往回遍历路径。