A星算法matlab源码及详细注释.docx

A星算法matlab源码及详细注释 function astardemo %ASTARDEMO Demonstration of ASTAR algorithm % % Copyright Bob L. Sturm, Ph. D., Assistant Professor % Department of Architecture, Design and Media Technology % formerly Medialogy % Aalborg University i Ballerup % formerly Aalborg University Copenhagen % $Revision: 0.1 $ $Date: 2011 Jan. 15 18h24:24$ n = 20; % field size n x n tiles 20*20的界面 wallpercent = 0.45; % this percent of field is walls 45%的界面作为阻碍物（墙） % create the n x n FIELD with wallpercent walls containing movement costs, % a starting position STARTPOSIND, a goal position GOALPOSIND, the costs % A star will compute movement cost for each tile COSTCHART, % and a matrix in which to store the pointers FIELDPOINTERS [field, startposind, goalposind, costchart, fieldpointers] = ... initializeField(n,wallpercent); %初始化界面 % initialize the OPEN and CLOSED sets and their costs setOpen = [startposind]; setOpenCosts = [0]; setOpenHeuristics = [Inf]; setClosed = []; setClosedCosts = []; movementdirections = {#39;R#39;,#39;L#39;,#39;D#39;,#39;U#39;}; % keep track of the number of iterations to exit gracefully if no solution counterIterations = 1; % create figure so we can witness the magic axishandle = createFigure(field,costchart,startposind,goalposind); % as long as we have not found the goal or run out of spaces to explore while ~max(ismember(setOpen,goalposind)) amp;amp; ~isempty(setOpen) %ismember(A,B)返回与A同大小的矩阵，其中元素1表示A中相应位置的元素在B中也出现，0则是没有出现 % for the element in OPEN with the smallest cost [temp, ii] = min(setOpenCosts + setOpenHeuristics); %从OPEN表中选择花费最低的点temp,ii是其下标(也就是标号索引) % find costs and heuristic of moving to neighbor spaces to goal % in order #39;R#39;,#39;L#39;,#39;D#39;,#39;U#39; [costs,heuristics,posinds] = findFValue(setOpen(ii),setOpenCosts(ii), ... field,goalposind,#39;euclidean#39;); %扩展temp的四个方向点，获得其坐标posinds，各个方向点的实际代价costs，启发代价heuristics % put node in CLOSED and record its c