【路径规划】基于A星算法实现机器人走迷宫路径规划含Matlab源码

1 简介

2 部分代码

%% load mapclear;ImpRgb = imread(maze.png);Imp = rgb2gray(ImpRgb);Imp = im2bw(Imp)*255;MAX_X=size(Imp,1);MAX_Y=size(Imp,2);distanceFcn = @(p1,p2) norm(p1-p2);%% AStarGlbTab= zeros(MAX_X, MAX_Y); % 0|new 1|open 2|closePathTab= zeros(MAX_X, MAX_Y, 2);nodeStartXY = [1, 1];nodeTargetXY = [250, 250];startGn= 0;startHn= distanceFcn(nodeTargetXY,nodeStartXY);startFn= startGn + startHn;% [fn | gn | h