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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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class=3DS5>_x</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS11>mapX</SPAN><SPAN class=3DS10>+</SPAN><SPAN =
class=3DS11>j</SPAN><SPAN=20
class=3DS10>*</SPAN><SPAN class=3DS11>mc</SPAN><SPAN =
class=3DS10>.</SPAN><SPAN=20
class=3DS5>_width</SPAN><SPAN class=3DS10>;</SPAN><BR><SPAN=20
class=3DlineNumber>14.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN class=3DS0>&nbsp; =
&nbsp; &nbsp;=20
&nbsp; &nbsp; &nbsp; </SPAN><SPAN class=3DS11>mc</SPAN><SPAN=20
class=3DS10>.</SPAN><SPAN class=3DS5>_y</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS11>mapY</SPAN><SPAN=20
class=3DS10>+</SPAN><SPAN class=3DS11>i</SPAN><SPAN =
class=3DS10>*</SPAN><SPAN=20
class=3DS11>mc</SPAN><SPAN class=3DS10>.</SPAN><SPAN =
class=3DS5>_height</SPAN><SPAN=20
class=3DS10>;</SPAN><BR><SPAN =
class=3DlineNumber>15.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS0>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; </SPAN><SPAN=20
class=3DS5>if</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS10>(</SPAN><SPAN=20
class=3DS11>map</SPAN><SPAN class=3DS10>[</SPAN><SPAN =
class=3DS11>i</SPAN><SPAN=20
class=3DS10>][</SPAN><SPAN class=3DS11>j</SPAN><SPAN =
class=3DS10>]</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>1</SPAN><SPAN class=3DS10>)</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>{</SPAN><BR><SPAN =
class=3DlineNumber>16.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS0>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; =
</SPAN><SPAN=20
class=3DS11>mc</SPAN><SPAN class=3DS10>.</SPAN><SPAN=20
class=3DS16>gotoAndStop</SPAN><SPAN class=3DS10>(</SPAN><SPAN =
class=3DS4>2</SPAN><SPAN=20
class=3DS10>);</SPAN><BR><SPAN =
class=3DlineNumber>17.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS0>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; </SPAN><SPAN=20
class=3DS10>}</SPAN><BR><SPAN =
class=3DlineNumber>18.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS0>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; </SPAN><SPAN=20
class=3DS5>if</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS10>(</SPAN><SPAN=20
class=3DS11>map</SPAN><SPAN class=3DS10>[</SPAN><SPAN =
class=3DS11>i</SPAN><SPAN=20
class=3DS10>][</SPAN><SPAN class=3DS11>j</SPAN><SPAN =
class=3DS10>]</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>2</SPAN><SPAN class=3DS10>)</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>{</SPAN><BR><SPAN =
class=3DlineNumber>19.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS0>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; =
</SPAN><SPAN=20
class=3DS11>mc</SPAN><SPAN class=3DS10>.</SPAN><SPAN=20
class=3DS16>gotoAndStop</SPAN><SPAN class=3DS10>(</SPAN><SPAN =
class=3DS4>3</SPAN><SPAN=20
class=3DS10>);</SPAN><BR><SPAN =
class=3DlineNumber>20.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS0>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; </SPAN><SPAN=20
class=3DS10>}</SPAN><BR><SPAN =
class=3DlineNumber>21.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS0>&nbsp; &nbsp; &nbsp; &nbsp; </SPAN><SPAN =
class=3DS10>}</SPAN><BR><SPAN=20
class=3DlineNumber>22.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN class=3DS0>&nbsp; =
&nbsp;=20
</SPAN><SPAN class=3DS10>}</SPAN><BR><SPAN=20
class=3DlineNumber>23.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS10>}</SPAN><BR><SPAN=20
class=3DlineNumber>24.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS11>map</SPAN><SPAN=20
class=3DS10>[</SPAN><SPAN class=3DS4>3</SPAN><SPAN =
class=3DS10>][</SPAN><SPAN=20
class=3DS4>5</SPAN><SPAN class=3DS10>]</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS4>1</SPAN><SPAN=20
class=3DS10>;</SPAN><BR><SPAN =
class=3DlineNumber>25.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS11>map</SPAN><SPAN class=3DS10>[</SPAN><SPAN =
class=3DS4>4</SPAN><SPAN=20
class=3DS10>][</SPAN><SPAN class=3DS4>5</SPAN><SPAN =
class=3DS10>]</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>1</SPAN><SPAN class=3DS10>;</SPAN><BR><SPAN=20
class=3DlineNumber>26.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS11>map</SPAN><SPAN=20
class=3DS10>[</SPAN><SPAN class=3DS4>5</SPAN><SPAN =
class=3DS10>][</SPAN><SPAN=20
class=3DS4>5</SPAN><SPAN class=3DS10>]</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS4>1</SPAN><SPAN=20
class=3DS10>;</SPAN><BR><SPAN =
class=3DlineNumber>27.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS11>map</SPAN><SPAN class=3DS10>[</SPAN><SPAN =
class=3DS4>4</SPAN><SPAN=20
class=3DS10>][</SPAN><SPAN class=3DS4>9</SPAN><SPAN =
class=3DS10>]</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>1</SPAN><SPAN class=3DS10>;</SPAN><BR><SPAN=20
class=3DlineNumber>28.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS11>map</SPAN><SPAN=20
class=3DS10>[</SPAN><SPAN class=3DS4>5</SPAN><SPAN =
class=3DS10>][</SPAN><SPAN=20
class=3DS4>9</SPAN><SPAN class=3DS10>]</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS4>1</SPAN><SPAN=20
class=3DS10>;</SPAN><BR><SPAN =
class=3DlineNumber>29.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS11>map</SPAN><SPAN class=3DS10>[</SPAN><SPAN =
class=3DS4>6</SPAN><SPAN=20
class=3DS10>][</SPAN><SPAN class=3DS4>9</SPAN><SPAN =
class=3DS10>]</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>1</SPAN><SPAN class=3DS10>;</SPAN><BR><SPAN=20
class=3DlineNumber>30.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS11>map</SPAN><SPAN=20
class=3DS10>[</SPAN><SPAN class=3DS4>7</SPAN><SPAN =
class=3DS10>][</SPAN><SPAN=20
class=3DS4>9</SPAN><SPAN class=3DS10>]</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS4>1</SPAN><SPAN=20
class=3DS10>;</SPAN><BR><SPAN =
class=3DlineNumber>31.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS11>map</SPAN><SPAN class=3DS10>[</SPAN><SPAN =
class=3DS4>8</SPAN><SPAN=20
class=3DS10>][</SPAN><SPAN class=3DS4>10</SPAN><SPAN =
class=3DS10>]</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>1</SPAN><SPAN class=3DS10>;</SPAN><BR><SPAN=20
class=3DlineNumber>32.&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=3DS4>80</SPAN><SPAN =
class=3DS10>;</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS11>i</SPAN><SPAN =
class=3DS10>++)</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>{</SPAN><BR><SPAN=20
class=3DlineNumber>33.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN class=3DS0>&nbsp; =
&nbsp;=20
</SPAN><SPAN class=3DS11>map</SPAN><SPAN class=3DS10>[</SPAN><SPAN=20
class=3DS5>random</SPAN><SPAN class=3DS10>(</SPAN><SPAN =
class=3DS11>map</SPAN><SPAN=20
class=3DS10>[</SPAN><SPAN class=3DS4>0</SPAN><SPAN =
class=3DS10>].</SPAN><SPAN=20
class=3DS5>length</SPAN><SPAN class=3DS10>-</SPAN><SPAN =
class=3DS4>1</SPAN><SPAN=20
class=3DS10>)][</SPAN><SPAN class=3DS5>random</SPAN><SPAN =
class=3DS10>(</SPAN><SPAN=20
class=3DS11>map</SPAN><SPAN class=3DS10>.</SPAN><SPAN =
class=3DS5>length</SPAN><SPAN=20
class=3DS10>-</SPAN><SPAN class=3DS4>1</SPAN><SPAN =
class=3DS10>)]</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS4>1</SPAN><SPAN class=3DS10>;</SPAN><BR><SPAN=20
class=3DlineNumber>34.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS10>}</SPAN><BR><SPAN=20
class=3DlineNumber>35.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS11>endX</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS5>random</SPAN><SPAN class=3DS10>(</SPAN><SPAN =
class=3DS11>map</SPAN><SPAN=20
class=3DS10>.</SPAN><SPAN class=3DS5>length</SPAN><SPAN =
class=3DS10>-</SPAN><SPAN=20
class=3DS4>1</SPAN><SPAN class=3DS10>);</SPAN><BR><SPAN=20
class=3DlineNumber>36.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS11>endY</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS5>random</SPAN><SPAN class=3DS10>(</SPAN><SPAN =
class=3DS11>map</SPAN><SPAN=20
class=3DS10>[</SPAN><SPAN class=3DS4>0</SPAN><SPAN =
class=3DS10>].</SPAN><SPAN=20
class=3DS5>length</SPAN><SPAN class=3DS10>-</SPAN><SPAN =
class=3DS4>1</SPAN><SPAN=20
class=3DS10>);</SPAN><BR><SPAN =
class=3DlineNumber>37.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS2>//endX =3D 0;</SPAN><BR><SPAN=20
class=3DlineNumber>38.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN class=3DS2>//endY =
=3D=20
15;</SPAN><BR><SPAN class=3DlineNumber>39.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =

class=3DS5>trace</SPAN><SPAN class=3DS10>(</SPAN><SPAN =
class=3DS11>endX</SPAN><SPAN=20
class=3DS10>+</SPAN><SPAN class=3DS6>":"</SPAN><SPAN =
class=3DS10>+</SPAN><SPAN=20
class=3DS11>endY</SPAN><SPAN class=3DS10>);</SPAN><BR><SPAN=20
class=3DlineNumber>40.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS11>map</SPAN><SPAN=20
class=3DS10>[</SPAN><SPAN class=3DS11>endX</SPAN><SPAN =
class=3DS10>][</SPAN><SPAN=20
class=3DS11>endY</SPAN><SPAN class=3DS10>]</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS10>=3D</SPAN><SPAN class=3DS0> </SPAN><SPAN =
class=3DS4>2</SPAN><SPAN=20
class=3DS10>;</SPAN><BR><SPAN =
class=3DlineNumber>41.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN=20
class=3DS11>drawMap</SPAN><SPAN class=3DS10>();</SPAN><BR><SPAN=20
class=3DlineNumber>42.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS11>AX</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
</SPAN><SPAN=20
class=3DS5>random</SPAN><SPAN class=3DS10>(</SPAN><SPAN =
class=3DS11>map</SPAN><SPAN=20
class=3DS10>.</SPAN><SPAN class=3DS5>length</SPAN><SPAN =
class=3DS10>-</SPAN><SPAN=20
class=3DS4>1</SPAN><SPAN class=3DS10>);</SPAN><BR><SPAN=20
class=3DlineNumber>43.&nbsp;&nbsp;</SPAN>&nbsp;<SPAN =
class=3DS11>AY</SPAN><SPAN=20
class=3DS0> </SPAN><SPAN class=3DS10>=3D</SPAN><SPAN class=3DS0> =
12345

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