79 lines
2.2 KiB
Matlab
79 lines
2.2 KiB
Matlab
function path = Dijkstras(map, start, goal)
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[rows, cols] = size(map);
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dist = inf(rows, cols); % 距离矩阵
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visited = false(rows, cols); % 访问标记
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prev = cell(rows, cols); % 前驱节点
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dist(start(1), start(2)) = 0; % 起点距离为0
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openList = start; % 初始化开放列表
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% 四方向移动：[上，下，左，右]
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directions = [0 1; 1 0; 0 -1; -1 0];
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while ~isempty(openList)
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% 在 openList 中找到最小距离的点
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minDist = inf;
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minIdx = 1;
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for i = 1:size(openList, 1)
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r = openList(i,1); c = openList(i,2);
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if dist(r, c) < minDist
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minDist = dist(r, c);
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minIdx = i;
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end
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end
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current = openList(minIdx, :);
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openList(minIdx, :) = []; % 从开放列表移除
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r = current(1); c = current(2);
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if visited(r, c), continue; end
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visited(r, c) = true;
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% 如果到达终点，停止
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if isequal(current, goal)
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break;
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end
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% 遍历邻居
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for d = 1:size(directions, 1)
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nr = r + directions(d, 1);
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nc = c + directions(d, 2);
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% 判断是否在地图内，是否为可通行格
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if nr >= 1 && nr <= rows && nc >= 1 && nc <= cols
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if map(nr, nc) == 0 && ~visited(nr, nc)
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alt = dist(r, c) + 1; % 假设代价为1
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if alt < dist(nr, nc)
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dist(nr, nc) = alt;
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prev{nr, nc} = [r, c];
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openList = [openList; nr, nc]; % 加入开放列表
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end
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end
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end
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end
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end
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% 回溯路径
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path = [];
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cur = goal;
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while ~isempty(prev{cur(1), cur(2)})
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path = [cur; path];
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cur = prev{cur(1), cur(2)};
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end
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if isequal(cur, start)
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path = [start; path];
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else
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path = [];
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end
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% 打印路径
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if ~isempty(path)
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disp('路径为：');
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for i = 1:size(path, 1)
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fprintf('(%d, %d)\n', path(i, 2), path(i, 1));
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end
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else
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disp('未找到路径。');
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end
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end
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