bfs小车坐标怎么写
时间: 2023-07-26 15:19:44 浏览: 40
如果您想使用 BFS(广度优先搜索)算法来实现小车在迷宫中的路径规划,可以考虑在程序中使用坐标表示小车当前的位置。以下是一个示例:
```c
//定义迷宫大小
#define MAZE_WIDTH 10
#define MAZE_HEIGHT 10
//定义迷宫地图
int maze[MAZE_HEIGHT][MAZE_WIDTH] = {
{1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
{1, 0, 0, 0, 1, 0, 0, 0, 0, 1},
{1, 0, 1, 0, 1, 0, 1, 1, 0, 1},
{1, 0, 1, 0, 1, 0, 0, 1, 0, 1},
{1, 0, 1, 0, 1, 1, 0, 1, 0, 1},
{1, 0, 0, 0, 0, 0, 0, 1, 0, 1},
{1, 0, 1, 1, 1, 1, 0, 1, 0, 1},
{1, 0, 0, 0, 0, 0, 0, 0, 0, 1},
{1, 0, 1, 1, 1, 1, 1, 1, 0, 1},
{1, 1, 1, 1, 1, 1, 1, 1, 1, 1}
};
//定义坐标结构体
struct Coordinate {
int x;
int y;
};
//定义队列结构体
struct Queue {
Coordinate data[MAZE_WIDTH * MAZE_HEIGHT];
int front;
int rear;
};
//初始化队列
void initQueue(Queue *q) {
q->front = 0;
q->rear = 0;
}
//判断队列是否为空
int isQueueEmpty(Queue *q) {
return (q->front == q->rear);
}
//入队
void enqueue(Queue *q, Coordinate c) {
q->data[q->rear] = c;
q->rear++;
}
//出队
Coordinate dequeue(Queue *q) {
Coordinate c = q->data[q->front];
q->front++;
return c;
}
//判断坐标是否合法
int isValidCoordinate(Coordinate c) {
return (c.x >= 0 && c.x < MAZE_WIDTH && c.y >= 0 && c.y < MAZE_HEIGHT && maze[c.y][c.x] == 0);
}
//BFS算法
void bfs(Coordinate start, Coordinate end) {
Queue q;
initQueue(&q);
int visited[MAZE_HEIGHT][MAZE_WIDTH] = {0}; //记录是否访问过
int distance[MAZE_HEIGHT][MAZE_WIDTH] = {0}; //记录距离
Coordinate prev[MAZE_HEIGHT][MAZE_WIDTH]; //记录路径
enqueue(&q, start);
visited[start.y][start.x] = 1;
while (!isQueueEmpty(&q)) {
Coordinate current = dequeue(&q);
if (current.x == end.x && current.y == end.y) {
break;
}
Coordinate next;
next.x = current.x + 1;
next.y = current.y;
if (isValidCoordinate(next) && !visited[next.y][next.x]) {
enqueue(&q, next);
visited[next.y][next.x] = 1;
distance[next.y][next.x] = distance[current.y][current.x] + 1;
prev[next.y][next.x] = current;
}
next.x = current.x - 1;
next.y = current.y;
if (isValidCoordinate(next) && !visited[next.y][next.x]) {
enqueue(&q, next);
visited[next.y][next.x] = 1;
distance[next.y][next.x] = distance[current.y][current.x] + 1;
prev[next.y][next.x] = current;
}
next.x = current.x;
next.y = current.y + 1;
if (isValidCoordinate(next) && !visited[next.y][next.x]) {
enqueue(&q, next);
visited[next.y][next.x] = 1;
distance[next.y][next.x] = distance[current.y][current.x] + 1;
prev[next.y][next.x] = current;
}
next.x = current.x;
next.y = current.y - 1;
if (isValidCoordinate(next) && !visited[next.y][next.x]) {
enqueue(&q, next);
visited[next.y][next.x] = 1;
distance[next.y][next.x] = distance[current.y][current.x] + 1;
prev[next.y][next.x] = current;
}
}
//输出路径
Coordinate c = end;
while (c.x != start.x || c.y != start.y) {
Serial.print("(");
Serial.print(c.x);
Serial.print(", ");
Serial.print(c.y);
Serial.println(")");
c = prev[c.y][c.x];
}
Serial.print("(");
Serial.print(start.x);
Serial.print(", ");
Serial.print(start.y);
Serial.println(")");
}
```
此示例中,使用 `Coordinate` 结构体表示小车在迷宫中的坐标,使用 `Queue` 结构体实现 BFS 算法的队列。`isValidCoordinate` 函数判断坐标是否合法,`bfs` 函数实现广度优先搜索,并输出路径。在实际使用时,您需要根据具体情况修改和完善代码,例如根据传感器数据更新小车坐标等。