matlab实现A*算法的路径规划示例
时间: 2023-08-14 10:59:38 浏览: 90
下面是一个简单的示例,展示了如何使用Matlab实现A*算法进行路径规划:
```matlab
% 定义迷宫地图
maze = [0 0 0 0 0 0 0;
0 1 0 1 1 1 0;
0 1 0 0 0 1 0;
0 1 1 1 0 1 0;
0 0 0 1 0 1 0;
0 1 0 1 0 1 0;
0 1 0 0 0 0 0];
startNode = [2,2]; % 起始节点坐标
goalNode = [5,6]; % 目标节点坐标
% 初始化openSet和closedSet
openSet = startNode;
closedSet = [];
% 初始化gScore和fScore
gScore = Inf(size(maze));
fScore = Inf(size(maze));
gScore(startNode(1), startNode(2)) = 0;
fScore(startNode(1), startNode(2)) = heuristic(startNode, goalNode);
% 定义启发式函数
function h = heuristic(current, goal)
h = abs(current(1) - goal(1)) + abs(current(2) - goal(2));
end
% 定义获取邻居节点函数
function neighbors = getNeighbors(current, maze)
[~, n] = size(maze);
neighbors = [];
if current(1) > 1 && maze(current(1)-1, current(2)) ~= 1
neighbors = [neighbors; current(1)-1, current(2)];
end
if current(1) < n && maze(current(1)+1, current(2)) ~= 1
neighbors = [neighbors; current(1)+1, current(2)];
end
if current(2) > 1 && maze(current(1), current(2)-1) ~= 1
neighbors = [neighbors; current(1), current(2)-1];
end
if current(2) < n && maze(current(1), current(2)+1) ~= 1
neighbors = [neighbors; current(1), current(2)+1];
end
end
% A*算法主循环
while ~isempty(openSet)
% 选择fScore最小的节点作为当前节点
[~, idx] = min(fScore(:));
[currentRow, currentCol] = ind2sub(size(fScore), idx);
currentNode = [currentRow, currentCol];
% 判断是否达到目标节点
if isequal(currentNode, goalNode)
% 生成路径
path = [];
while ~isequal(currentNode, startNode)
path = [path; currentNode];
currentNode = closedSet(currentNode(1), currentNode(2));
end
path = [path; startNode];
path = flip(path);
disp(path);
break;
end
% 将当前节点从openSet中移除,并加入closedSet
openSet(openSet == idx) = [];
closedSet(currentRow, currentCol) = currentNode;
% 获取邻居节点
neighbors = getNeighbors(currentNode, maze);
% 更新邻居节点的gScore和fScore
for i = 1:size(neighbors, 1)
neighbor = neighbors(i, :);
gScoreNeighbor = gScore(currentRow, currentCol) + 1;
if gScoreNeighbor < gScore(neighbor(1), neighbor(2))
closedSet(neighbor(1), neighbor(2)) = currentNode;
gScore(neighbor(1), neighbor(2)) = gScoreNeighbor;
fScore(neighbor(1), neighbor(2)) = gScoreNeighbor + heuristic(neighbor, goalNode);
if ~ismember(neighbor, openSet)
openSet = [openSet; sub2ind(size(maze), neighbor(1), neighbor(2))];
end
end
end
end
```
这个示例中,我们定义了一个迷宫地图,并指定了起始节点和目标节点的坐标。然后,我们使用A*算法进行路径规划,最终输出找到的路径。
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