基于A星的障碍物规避路线规划算法MATLAB仿真,带GUI界面

function varargout = A_GUI(varargin) % A_GUI MATLAB code for A_GUI.fig % A_GUI, by itself, creates a new A_GUI or raises the existing % singleton*. % % H = A_GUI returns the handle to a new A_GUI or the handle to % the existing singleton*. % % A_GUI('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in A_GUI.M with the given input arguments. % % A_GUI('Property','Value',...) creates a new A_GUI or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before A_GUI_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to A_GUI_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help A_GUI % Last Modified by GUIDE v2.5 21-Oct-2018 17:10:48 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @A_GUI_OpeningFcn, ... 'gui_OutputFcn', @A_GUI_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end if nargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT % --- Executes just before A_GUI is made visible. function A_GUI_OpeningFcn(hObject, eventdata, handles, varargin) % This function has no output args, see OutputFcn. % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % varargin command line arguments to A_GUI (see VARARGIN) % Choose default command line output for A_GUI handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes A_GUI wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = A_GUI_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT); % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Get default command line output from handles structure varargout{1} = handles.output; % --- Executes on button press in pushbutton1. function pushbutton1_Callback(hObject, eventdata, handles) % hObject handle to pushbutton1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % set up color map for display 生成彩色地图 global cmap; global map; global n_r; global n_c; global state; cmap = [1 1 1; ...% 1 -白色-无障碍 0 0 0; ...% 2 -黑色-有障碍 0 0.8 0; ...% 3 -绿色-已搜索 0 0.4 0; ...% 4 -粉色-正在搜索 0 1 1; ...% 5 -浅蓝色-起始点 1 1 0; ...% 6 -黄色-目标点 0 0 1]; % 7 -蓝色-最终路径 colormap(cmap); %生成随机地图 map = zeros(n_r,n_c); randmap = rand(n_r,n_c); for i = 2:(sub2ind(size(randmap),n_r,n_c)-1) if (randmap(i) >= 0.75) map(i) = 2; end end map(1, 1) = 5; % start_coords 起点坐标 map(n_r, n_c) = 6; % dest_coords 终点坐标 image(1.5,1.5,map); grid on; axis image; set(handles.text5,'string','随机地图生成完毕'); % --- Executes on button press in pushbutton2. function pushbutton2_Callback(hObject, eventdata, handles) % hObject handle to pushbutton2 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) %搜索最佳路径 global n_r; global n_c; global cmap; global map; global state; nrows = n_r; ncols = n_c; start_node = sub2ind(size(map), 1, 1); %sub2ind()函数将矩阵中的某个元素的线性序号计算出来 %线性索引号例子：2*2矩阵[1 3;中，1是第一个，5是第二个 % 5 7] ，3是第三个，7是第四个 %（matlab是列优先，不是我们通常习惯的行优先） dest_node = sub2ind(size(map), n_r, n_c); % Initialize distance array 初始化距离数组 distanceFromStart = Inf(nrows,ncols); distanceFromStart(start_node) = 0 ; [X, Y] = meshgrid (1:ncols, 1:nrows); H = abs(Y - n_r) + abs(X - n_c); f = Inf(nrows,ncols); f(start_node) = H(start_node); % For each grid cell this array holds the index of its parent 对于每个网格单元，该数组都保存其父单元的索引 parent = zeros(nrows,ncols); % Main Loop while true % Draw current map map(start_node) = 5; map(dest_node) = 6; image(1.5, 1.5, map); grid on; %网格 axis image; %显示坐标 drawnow; %刷新屏幕 % Find the node with the minimum distance 找到距离最短的节点 % [min_dist, current] = min(distanceFromStart(:)); [~, current] = min(f(:)); [min_dist, ~] = min(distanceFromStart(:)); if ((current == dest_node) || isinf(min_dist)) %TF = isinf(A) 　返回一个和A尺寸一样的数组， 如果A中某个元素是inf (无穷)， 则对应TF中元素是1， 否则TF中对应元素是0。 break; end; %搜索中心的索引坐标：current, %搜索中心与起始点的路程：min_dist % 这两个值后面会用。 map(current) = 3; % distanceFromStart(current) = Inf; f(current) = Inf; [i, j] = ind2sub(size(distanceFromStart), current); %索引号变为坐标 neighbor = [i-1,j; i+1,j; i,j+1; i,j-1]; outRangetest = (neighbor(:,1)<1) + (neighbor(:,1)>nrows)+(neighbor(:,2)<1) + (neighbor(:,2)>ncols); locate = find(outRangetest>0); %返回outRangetest中大于0的元素的相对应的线性索引值。 neighbor(locate,:)=[]; neighborIndex = sub2ind(size(map),neighbor(:,1),neighbor(:,2)); for i=1:length(neighborIndex) if (map(neighborIndex(i))~=2) && (map(neighborIndex(i))~=3 && map(neighborIndex(i))~= 5) map(neighborIndex(i)) = 4; if (distanceFromStart(neighborIndex(i))>= min_dist + 1 ) distanceFromStart(neighborIndex(i)) = min_dist+1; parent(neighborIndex(i)) = current; f(neighborIndex(i)) = H(neighborIndex(i)); % pause(0.02); end end end end % %% if (isinf(distanceFromStart(dest_node))) %route = []; disp('路径搜索失败'); set(handles.text5,'string','路径搜索失败'); else %提取路线坐标 set(handles.text5,'string','路径搜索成功'); route = [dest_node]; while (parent(route(1)) ~= 0) route(1); parent(route(1)) route = [parent(route(1)), route] ; end % 动态显示出路线 for k = 2:length(route) - 1 map(route(k)) = 7; pause(0.02); image(1.5, 1.5, map); grid on; axis image; end disp('路径搜索成功'); end % --- Executes on selection change in popupmenu1. function popupmenu1_Callback(hObject, eventdata, handles) % hObject handle to popupmenu1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) row = [15 20 25 300]; global n_r n_r = row(get(handles.popupmenu1, 'value')); % Hints: contents = cellstr(get(hObject,'String')) returns popupmenu1 contents as cell array % contents{get(hObject,'Value')} returns selected item from popupmenu1 % --- Executes during object creation, after setting all properties. function popupmenu1_CreateFcn(hObject, eventdata, handles) % hObject handle to popupmenu1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: popupmenu controls usually have a white background on Win