function path = Dijkstras(map, start, goal)
    [rows, cols] = size(map);
    dist = inf(rows, cols);           % 距离矩阵
    visited = false(rows, cols);      % 访问标记
    prev = cell(rows, cols);          % 前驱节点

    dist(start(1), start(2)) = 0;     % 起点距离为0
    openList = start;                 % 初始化开放列表

    % 四方向移动：[上，下，左，右]
    directions = [0 1; 1 0; 0 -1; -1 0];

    while ~isempty(openList)
        % 在 openList 中找到最小距离的点
        minDist = inf;
        minIdx = 1;
        for i = 1:size(openList, 1)
            r = openList(i,1); c = openList(i,2);
            if dist(r, c) < minDist
                minDist = dist(r, c);
                minIdx = i;
            end
        end

        current = openList(minIdx, :);
        openList(minIdx, :) = []; % 从开放列表移除

        r = current(1); c = current(2);
        if visited(r, c), continue; end
        visited(r, c) = true;

        % 如果到达终点，停止
        if isequal(current, goal)
            break;
        end

        % 遍历邻居
        for d = 1:size(directions, 1)
            nr = r + directions(d, 1);
            nc = c + directions(d, 2);

            % 判断是否在地图内，是否为可通行格
            if nr >= 1 && nr <= rows && nc >= 1 && nc <= cols
                if map(nr, nc) == 0 && ~visited(nr, nc)
                    alt = dist(r, c) + 1;  % 假设代价为1
                    if alt < dist(nr, nc)
                        dist(nr, nc) = alt;
                        prev{nr, nc} = [r, c];
                        openList = [openList; nr, nc]; % 加入开放列表
                    end
                end
            end
        end
    end

    % 回溯路径
    path = [];
    cur = goal;
    while ~isempty(prev{cur(1), cur(2)})
        path = [cur; path];
        cur = prev{cur(1), cur(2)};
    end
    if isequal(cur, start)
        path = [start; path];
    else
        path = [];
    end

    % 打印路径
    if ~isempty(path)
        disp('路径为：');
        for i = 1:size(path, 1)
            fprintf('(%d, %d)\n', path(i, 2), path(i, 1));
        end
    else
        disp('未找到路径。');
    end
end