A*路径规划matlab代码
时间: 2023-08-29 16:06:59 浏览: 38
以下是一个简单的A*路径规划的Matlab代码示例,假设地图是一个二维数组,其中0表示可通过的区域,1表示障碍物。
```matlab
function [path, cost] = astar(start, goal, map)
% 初始化起始节点和目标节点
start_node.pos = start;
start_node.g = 0;
start_node.h = heuristic(start, goal);
start_node.f = start_node.g + start_node.h;
goal_node.pos = goal;
goal_node.g = Inf;
goal_node.h = 0;
goal_node.f = goal_node.g + goal_node.h;
% 初始化开放列表和关闭列表
open_list = start_node;
close_list = [];
% 开始搜索
while ~isempty(open_list)
% 从开放列表中选择f值最小的节点
[min_f, index] = min([open_list.f]);
current_node = open_list(index);
% 到达目标节点,完成搜索
if current_node.pos == goal_node.pos
path = trace_path(current_node);
cost = current_node.g;
return;
end
% 将当前节点移动到关闭列表
open_list(index) = [];
close_list(end+1) = current_node;
% 对当前节点相邻的节点进行处理
neighbors = get_neighbors(current_node, map);
for i = 1:length(neighbors)
neighbor = neighbors(i);
% 如果相邻节点已经在关闭列表中,跳过
if is_on_list(neighbor, close_list)
continue;
end
% 计算从当前节点到相邻节点的代价
tentative_g = current_node.g + distance(current_node.pos, neighbor.pos);
% 如果相邻节点不在开放列表中,或者新路径更优,则更新相邻节点
if ~is_on_list(neighbor, open_list) || tentative_g < neighbor.g
neighbor.g = tentative_g;
neighbor.h = heuristic(neighbor.pos, goal);
neighbor.f = neighbor.g + neighbor.h;
neighbor.parent = current_node;
% 如果相邻节点不在开放列表中,将其加入开放列表
if ~is_on_list(neighbor, open_list)
open_list(end+1) = neighbor;
end
end
end
end
% 无法到达目标节点,搜索失败
path = [];
cost = Inf;
end
% 计算两点之间的曼哈顿距离
function d = distance(p1, p2)
d = abs(p1(1)-p2(1)) + abs(p1(2)-p2(2));
end
% 计算启发式代价(曼哈顿距离)
function h = heuristic(p1, p2)
h = distance(p1, p2);
end
% 获取相邻的节点
function neighbors = get_neighbors(node, map)
[r, c] = size(map);
x = node.pos(1);
y = node.pos(2);
n = 1;
for i = -1:1
for j = -1:1
if i == 0 && j == 0
continue;
end
if x+i < 1 || x+i > r || y+j < 1 || y+j > c
continue;
end
if map(x+i, y+j) == 1
continue;
end
neighbors(n).pos = [x+i, y+j];
n = n + 1;
end
end
end
% 判断节点是否在列表中
function is_on = is_on_list(node, list)
is_on = false;
for i = 1:length(list)
if node.pos == list(i).pos
is_on = true;
break;
end
end
end
% 回溯路径
function path = trace_path(node)
path(1) = node.pos;
while isfield(node, 'parent')
node = node.parent;
path(end+1,:) = node.pos;
end
path = flipud(path);
end
```
调用示例:
```matlab
map = [
0 0 0 0 0 0 0 0 0 0;
0 1 0 0 0 0 0 0 0 0;
0 1 0 0 0 0 0 0 0 0;
0 1 0 0 0 0 0 0 0 0;
0 1 0 0 0 0 0 0 0 0;
0 1 0 0 0 0 0 0 0 0;
0 1 0 0 0 0 0 0 0 0;
0 1 0 0 0 0 0 0 0 0;
0 1 0 0 0 0 0 0 0 0;
0 0 0 0 0 0 0 0 0 0;
];
start = [1, 1];
goal = [10, 10];
[path, cost] = astar(start, goal, map);
disp(path);
disp(cost);
```