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📄 astar.mht

📁 路径规划 A算法 运用于机器人全局的路径规划
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From: <由 Microsoft Internet Explorer 5 保存>
Subject: Exported Document
Date: Thu, 9 Nov 2006 21:24:41 +0800
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<BODY bgColor=3D#ffffff><SPAN><SPAN=20
class=3DlineNumber>1.&nbsp;&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS2>//=E7=94=9F=E6=88=90=E5=9C=B0=E5=9B=BE</SPAN><BR><SPAN=20
class=3DlineNumber>2.&nbsp;&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS11>map</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS10>=3D</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS5>new</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS19>Array</SPAN><SPAN class=3DS10>(</SPAN><SPAN =
class=3DS4>16</SPAN><SPAN=20
class=3DS10>);</SPAN><BR><SPAN=20
class=3DlineNumber>3.&nbsp;&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS11>mapX</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS10>=3D</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS4>50</SPAN><SPAN =
class=3DS10>;</SPAN><BR><SPAN=20
class=3DlineNumber>4.&nbsp;&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS11>mapY</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS10>=3D</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS4>50</SPAN><SPAN =
class=3DS10>;</SPAN><BR><SPAN=20
class=3DlineNumber>5.&nbsp;&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS5>c</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>;</SPAN><BR><SPAN=20
class=3DlineNumber>6.&nbsp;&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS5>for</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>(</SPAN><SPAN =
class=3DS5>var</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS11>i</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS4>0</SPAN><SPAN=20
class=3DS10>;</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS11>i</SPAN><SPAN=20
class=3DS10>&lt;</SPAN><SPAN class=3DS11>map</SPAN><SPAN =
class=3DS10>.</SPAN><SPAN=20
class=3DS5>length</SPAN><SPAN class=3DS10>;</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS11>i</SPAN><SPAN class=3DS10>++)</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>{</SPAN><BR><SPAN=20
class=3DlineNumber>7.&nbsp;&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS0>&nbsp; &nbsp;=20
</SPAN><SPAN class=3DS11>map</SPAN><SPAN class=3DS10>[</SPAN><SPAN=20
class=3DS11>i</SPAN><SPAN class=3DS10>]</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS10>[</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>,</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>0</SPAN><SPAN class=3DS10>];</SPAN><BR><SPAN=20
class=3DlineNumber>8.&nbsp;&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS10>}</SPAN><BR><SPAN=20
class=3DlineNumber>9.&nbsp;&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS5>function</SPAN><SPAN class=3DS0> </SPAN><SPAN=20
class=3DS11>drawMap</SPAN><SPAN class=3DS10>()</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>{</SPAN><BR><SPAN =
class=3DlineNumber>10.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS0>&nbsp; &nbsp; </SPAN><SPAN class=3DS5>for</SPAN><SPAN =
class=3DS0>=20
</SPAN><SPAN class=3DS10>(</SPAN><SPAN class=3DS5>var</SPAN><SPAN =
class=3DS0>=20
</SPAN><SPAN class=3DS11>i</SPAN><SPAN class=3DS0> </SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS4>0</SPAN><SPAN=20
class=3DS10>;</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS11>i</SPAN><SPAN=20
class=3DS10>&lt;</SPAN><SPAN class=3DS11>map</SPAN><SPAN =
class=3DS10>.</SPAN><SPAN=20
class=3DS5>length</SPAN><SPAN class=3DS10>;</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS11>i</SPAN><SPAN class=3DS10>++)</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>{</SPAN><BR><SPAN =
class=3DlineNumber>11.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS0>&nbsp; &nbsp; &nbsp; &nbsp; </SPAN><SPAN =
class=3DS5>for</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>(</SPAN><SPAN =
class=3DS5>var</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS11>j</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS4>0</SPAN><SPAN=20
class=3DS10>;</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS11>j</SPAN><SPAN=20
class=3DS10>&lt;</SPAN><SPAN class=3DS11>map</SPAN><SPAN =
class=3DS10>[</SPAN><SPAN=20
class=3DS11>i</SPAN><SPAN class=3DS10>].</SPAN><SPAN =
class=3DS5>length</SPAN><SPAN=20
class=3DS10>;</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS11>j</SPAN><SPAN=20
class=3DS10>++)</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS10>{</SPAN><BR><SPAN=20
class=3DlineNumber>12.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN class=3DS0>&nbsp; =
&nbsp; &nbsp;=20
&nbsp; &nbsp; &nbsp; </SPAN><SPAN class=3DS5>var</SPAN><SPAN class=3DS0> =

</SPAN><SPAN class=3DS11>mc</SPAN><SPAN class=3DS0> </SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS5>_root</SPAN><SPAN=20
class=3DS10>.</SPAN><SPAN class=3DS16>attachMovie</SPAN><SPAN=20
class=3DS10>(</SPAN><SPAN class=3DS6>"mapre"</SPAN><SPAN =
class=3DS10>,</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS6>"mapre"</SPAN><SPAN =
class=3DS10>+</SPAN><SPAN=20
class=3DS11>i</SPAN><SPAN class=3DS10>+</SPAN><SPAN =
class=3DS6>"w"</SPAN><SPAN=20
class=3DS10>+</SPAN><SPAN class=3DS11>j</SPAN><SPAN =
class=3DS10>,</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS11>i</SPAN><SPAN =
class=3DS10>*</SPAN><SPAN=20
class=3DS4>80</SPAN><SPAN class=3DS10>+</SPAN><SPAN =
class=3DS11>j</SPAN><SPAN=20
class=3DS10>);</SPAN><BR><SPAN =
class=3DlineNumber>13.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS0>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; </SPAN><SPAN=20
class=3DS11>mc</SPAN><SPAN class=3DS10>.</SPAN><SPAN =
12345

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