混合A星算法-Hybrid_Astar（matlab）

clc clear close all %% 如有问题请咨询115075524(QQ) row=10; col=10; sign=zeros(row,col); sign(4:5,4:5)=1;%设置障碍 sign(8,5)=1; startPose = [1.6 0.8 pi/2]; % [meters, meters, radians] goalPose = [9.1 8.8 pi/3];%终点 min_r=1;%最小转弯半径 safe_dis=0.5;%与障碍物的安全距离 step=0.5;%步长 P3=0.01;%角度惩罚系数 ob_coo=[]; figure(1)%画障碍图 hold on axis equal for i=1:row for j=1:col if sign(i,j)==1 y=[i-1,i-1,i,i]; x=[j-1,j,j,j-1]; h=fill(x,y,'k'); set(h,'facealpha',1) ob_coo=[ob_coo;[j-0.5,i-0.5]]; end % %s=(num2str((i-1)*col+j)); % s=(['(',num2str(i),',',num2str(j),')']); % text(j-0.95,i-0.5,s,'fontsize',8) end end axis([0 col 0 row])%限制图的边界 for i=1:row plot([0 col],[i i],'k-'); end for i=1:col plot([i i],[0 row],'k-');%画网格线 end plot(startPose(1),startPose(2), 'p','markersize', 10,'markerfacecolor','b','MarkerEdgeColor', 'm') plot(goalPose(1),goalPose(2),'o','markersize', 10,'markerfacecolor','g','MarkerEdgeColor', 'c') % set(gca,'YDir','reverse'); opened=[startPose 0 0 0 0 1 0];%x,y,sita,方向、g值，h值，f值，二叉树中的位置，父代编号 dis_astar=Astar_fun(fliplr(ceil(startPose(1:2))),fliplr(ceil(goalPose(1:2))),sign); [dis_rs,~]=reeds_shepp_fun(startPose,goalPose,min_r); opened(1,6)=max(dis_astar,dis_rs); opened(1,7)=opened(1,5)+opened(1,6); now_point=opened; nodeIndex = 1;%节点编码 nodeArray(nodeIndex).x=now_point(1); nodeArray(nodeIndex).y=now_point(2); nodeArray(nodeIndex).sita=now_point(3); nodeArray(nodeIndex).D=now_point(4); nodeArray(nodeIndex).g=now_point(5); nodeArray(nodeIndex).h=now_point(6); nodeArray(nodeIndex).f=now_point(7); nodeArray(nodeIndex).ind=now_point(8); nodeArray(nodeIndex).parent=now_point(9); nodeArray(nodeIndex).route=[]; nodeIndex = nodeIndex + 1; [min_num,index] = min(opened(:,7)); while ceil(now_point(1))~=ceil(goalPose(1))||ceil(now_point(2))~=ceil(goalPose(2)) %结束条件(也就是终点被放入到)， opened(index,:) = []; %从开放列表中删除 for i=1:3 [isok,x,y,sita,route]=find_route_fun(now_point,i,step,min_r,safe_dis,ob_coo); if x<=0||x>col||y<=0||y>row isok=1; end if isok==0 temp=[x,y,sita,0,0,0,0,nodeIndex,now_point(8)]; if i>3 temp(4)=1; end temp(5)=now_point(5)+step+sum(abs(temp(3)-now_point(3)))*P3; dis_astar=Astar_fun(fliplr(ceil(temp(1:2))),fliplr(ceil(goalPose(1:2))),sign); [dis_rs,~]=reeds_shepp_fun(temp(1:3),goalPose,min_r); temp(6)=max(dis_astar,dis_rs); temp(7)=temp(5)+temp(6); opened=[opened;temp]; nodeArray(nodeIndex).x=temp(1); nodeArray(nodeIndex).y=temp(2); nodeArray(nodeIndex).sita=temp(3); nodeArray(nodeIndex).D=temp(4); nodeArray(nodeIndex).g=temp(5); nodeArray(nodeIndex).h=temp(6); nodeArray(nodeIndex).f=temp(7); nodeArray(nodeIndex).ind=temp(8); nodeArray(nodeIndex).parent=temp(9); nodeArray(nodeIndex).route=route; nodeIndex = nodeIndex + 1; if i<=3 plot(route(:,1),route(:,2),'b-') else plot(route(:,1),route(:,2),'g-') end drawnow plot(route(end,1),route(end,2), 'o','markersize', 2,'markerfacecolor','r','MarkerEdgeColor', 'm') end end [min_num,index] = min(opened(:,7)); now_point=opened(index,:); if norm(now_point(1:2)-goalPose(1:2))<2*step break end end node_temp=nodeArray(now_point(8)); index=now_point(8); while node_temp.parent~=0 node_temp=nodeArray(node_temp.parent); index=[index node_temp.ind]; end index=fliplr(index); route_all=startPose; for i=1:length(index) route=nodeArray(index(i)).route; route_all=[route_all;route(2:end,:)]; end [~,route]=reeds_shepp_fun(now_point(1:3),goalPose,min_r); route_all=[route_all;route(2:end,:)]; size_car=[1 0.6 0.4]; [h1,h2]=plot_car(route_all(1,:),size_car); dis_all=0; for i=2:size(route_all,1) dis_all=dis_all+norm(route_all(i,1:2)-route_all(i-1,1:2)); r_lin=route_all(i,:); delete(h1) delete(h2) plot(route_all(i-1:i,1),route_all(i-1:i,2),'r-','LineWidth',2) [h1,h2]=plot_car(r_lin,size_car); drawnow; %pause(0.03); end disp(['总距离：',num2str(dis_all)]) % [h1,h2]=plot_car(route(end,:),size_car); % plot(route_all(:,1),route_all(:,2),'k-','LineWidth',2)