A星寻路_A算法栅格地图_a星走格_A星算法_A星栅格_A星

clear; G= [0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0; 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0; 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0; 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0; 0 1 1 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 0 0; 0 1 1 1 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0; 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 1 1 1 1 0; 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0; 0 0 1 1 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 0; 0 0 1 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0; 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0; 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0; 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]; ditu.qishi=[1,1]; ditu.mubiao=[20,20]; ditu.daxiao=20; zhangai=[]; for i=1:ditu.daxiao for j=1:ditu.daxiao if (G(i,j)==1) zhangai=[zhangai;j,i]; end end end path=Astar(zhangai,ditu); b = G; b(end+1,end+1) = 0; figure(4); colormap([1 1 1;0 0 0]); % 创建颜色 pcolor(0.5:size(G,2) + 0.5, 0.5:size(G,1) + 0.5, b); % 赋予栅格颜色 set(gca, 'XTick', 1:size(G,1), 'YTick', 1:size(G,2)); % 设置坐标 axis image xy; % 沿每个坐标轴使用相同的数据单位，保持一致 hold on; plot(path(:,1),path(:,2),'-m','linewidth',2); a=path(1,3);