基于方向优先权的机器人最优路径寻找算法MATLAB程序代码.docx
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基于方向优先权的机器人最优路径寻找算法MATLAB程序代码
基于方向优先权的机器人最优路径寻找算法MATLAB程序代码
说明：
本程序是基于方向优先权的机器人最优路径寻找算法，也可用于求解迷宫的最短路径算法中是以100*100的格点为实例的，其中标0的位置为可行的点，标1的为障碍物，参考者可以根据自己的情况修改场地信息矩阵和起始点、目标点中间的算法不用修改
（Thisprocedureisbaxxxxsedontheprioritydirectionoftherobottofindtheoptimalpathalgorithmcanalsobeusedtosolvethemazeoftheshortestpathalgorithmis100*100gridpointsfortheinstancewhichmarkedthelocationof0pointsaspossiblestandard1forthebarrierreferenceconditionscanmodifythesiteaccordingtotheirowninformationmatrixandthestartingpointtargetpointsdonotmodifythemiddleofthealgorithm）
%本程序是基于方向优先权的机器人最优路径寻找算法，也可用于求解迷宫的最短路径，
%算法中是以100*100的格点为实例的，其中标0的位置为可行的点，标1的为障碍物，
%参考者可以根据自己的情况修改场地信息矩阵和起始点、目标点中间的算法不用修改
functionshort100
%基于方向优先权的机器人最优路径寻找算法，也就是类似于迷宫最短路径的求解算法
%byKissmile
Init_x=2;%起始点行数
Init_y=1;%终止点列数
Des_x=84;%目标点坐标
Des_y=63;
%场地信息矩阵
Matrix=[1100001100010011111010011001010000011100000111001010010010100010010110011111101111000110110011010100
0001001111001010001010010101000101010011001010000110010001101110100101100101101011110111011010101110
1100110111001100110001110101110010101111111010101100101011100001111111001100110010111010001001001111
0001110100001000110010000010101100001011111001110111000101101000110100100101000010111001100100001011
1000000111111100001101100100001000001011110111111001100100110101110110011011100111000101110010000101
1011010110000011100110000111000001100101110100000101101011111101101110100001101010101011100100000000
010*********
010*********
110100*********0111100111101010000100010011101111111011010111101001011001001011011101101100000001100
0111110110100100111010001010110101001100010110011010000001111101011111111001100110110001010101101001
1010000100101111001001001001100110100110001011000000011110010010100100111101110100101101011001111100
1001011110100000011010111110010111100001101110000111000010101011010110001100110011001100010001011000
1101011011001000111111111100111011001001011111010001011110010001110000011011100011101000011010110101
1110001100101110010111100001101101111101110001110000100100011110101001111101110010111000010111110101
0001100011000001100000001000000011001110011111010110000001100000110111110111011100010100000100001001
0111111000101101000100110011100111011010000011101010001010000100101001111010000011000101010011000000
1111011000001000011110000000010100110101100001000101111111110100111010010111000001001111101100110011
1010100000101100001011011011100101110010100011111001110111110101100010000111101010011100100101111001
0111011001100010110101000011001111110110111100110000000001110101100001001000011000100110100111011001
1001101101001010010000111100001111101010000110000100110111101101111110101010101101111001111100001111
0001110110101110101110111101001110001100100100011110110111010010110110101101001000100011001101011110
0010010111101110110110101100110001010100100011010101100011100001111101000010001001100100010011001011
1101010101001100000011111011101010101110111100001110001001011110110011101000111011000010100010101110
0010110101000001101110111001000101010000011001111011101101011010101100011101001100011111011100111011
0111110000011101010000110100110101101011011101010110101011110111001001001010110100111101001000000110
0110101010001001100100000011110001110001100011011010111011010110011001100111110011101101111111001101
010*********
110001*********1100110011100000100011001011100111010001010101001000000110101101001010010110100010110
0001001010100111000101010101100010001101011001110011110010100111000101101110100110110111101100111010
0000011000001011100101001111110110011110011110010011000001110010011110000110001001001011111111111011
0000010101000100001001100000011010100110011011110110000100001110001001011110101010011101101101111011
111000*********0010011011010011010010011100011001100001001111001100001001010110011001110100110101110
0000100010100010101100001010000100001110010011110011010000001001010001010011111000010011010011011100
1111101110000110000000001010101100111110001100011010010101100101101111111110010100011001111001001100
010*********
0000110101000011001110000010000101001111110000101101001110011010010111111111010111111100011001101001
110100*********1001101000010011011101101000111111010000000110100100000000000000011101100010011100110
1001110010001111000000001010011010111010101001101110011111100100111111011110111110011001111000110000
0011111000101101010111101010001100000111000010011001001100001110001010011100111011110000011111111101
1101110100111011000110100010101100000110100000000100111011001101100100000000111100001000000101010100
1101001100111010010100001010100011000010001100110100010010101100001001100100010111110110011110001011
0000101110001010100101001011101000111001111110110100100100100001111001000110101011001111000000101001
111010*********1111101001011110100110000011011010000110101011110000011110010101111110110111100000111
0111101000001101111000100011110000110001011101000110010000011011010010011011000100111101101011010001
1011111111011110010100011111011110000100100000111100010100100101000001100100010111001001111010011000
1010000001010001001001110010110111011100001000001011000101000010101111111011001011100010001110000111
1100011001001001110110111111001101100100101001110001111011110101000011100011011001100000100000111111
010*********
0010111110111111000011110001010110011000001001101110101100010110101101001110100110100110111011111101
0110011100010101110111111111001010100001001110101010001011110111110100100101110100101011001010101100
0001011100001110011010101010100110000110000001010100101101001110011010010101011010000010111001111111
1001110101110111101110101111110101011100000001111010000101010010101110011111100110101010111000111010
0000100101111101111101101101000110110011010000000000000001000000101110101010010010011100010000111111
1010010111000001010011101010101000000011011110111101001000111110010010101101111011011111101011110011
0011011101010101010011011011000110010000110010111011111010100000111010010110011011100101111101010011
1010100111010010110101111001100001110100111100100101011000010101000001111101101010000010011101011101
0111000101101110111111110101001100101111110000100101010101010111110010101111100011101111000000000111
1001111101100110000101010011100111000001111101101111100111000111101010011100111000100100011110110101
1011111011111011001111001011011110001101111010001100110011000111000011110010000111101101111100001010
111011*********1000000000111110000010010111011010111010000110100101111011110111100110010110000011000
010*********
1011010000100101101011000011110101100000011110011010110100110100011010110000011111101011100010100010
1011010011011010101001101110100011100110010000011000010011100110000110001101011001101111101111111000
1010100011011110100110001100111101111111000000110111100111010100100000111100110100000110100011000111
1100100010001011000100011000111101010110110001111100100111100100111110111000100000001000010110010010
1010001011100110001010001110010011101001100001000100110101010100011011010001111010111111110000001100
0010000110001111010010111111010001001010011000010100101001000110010001111100110111010010111110011100
010*********
0111010010000100100011010001011011000101111111011000100110000101011001001100111110110000111011110101
1100000100001010011111101011001110110101110101010000001001100111111010101000110111110110100000000110
1011001011110001010110011001100011001011110000001111111100100110001010001110111101101100111101111011
0010010101100111100011001100000001101000011011011111011101100110001100001000111010100100001010011101
1001101110000000001011100100011111000111001111011000010101000101010100100000100100101000100111101110
1001010111011001000010101100001010100101101100110000110101000101001011111111110110111010101111101001
0010110000100011001011111100111000000101000100001011001010100100100101101101101110111000001111101101
1111011001000011011101000010110010011110100100011110010100000101111100101100010101010110101111111010
1101100000010010010111100011100001001010101010000001101001000100010010001111000110010011000010011100
010*********
1010101111110101110110100011011001100001100100011111111011000100101101110110111111101010100001000000
1110010100110101100011101000100110000110100010101010111011000110011011100000011101010111001011000111
1010101010010000010101111000111011100100101111100010011101010111111011110110000110010100001001110011
1010111110101001110100001000101010010110101011111111110110010110111100100011110011000000100100110010
1110001000001010110101101111111110100111010100101000011110000010000110111001011111100100001000101010
110011*********0011110110101101011001111010101001000100000011001110011111110110100101110011101100110
0001010000010101110110100101110011000100011110100111010100001110111011000100010010010110100001000010
1010011101001010001001001001101100001011110111001100000010000101101100010101110110010100000100111100
0110000001101101001111110000011000010100101110010011100101111001010001111110110100001110010001011111
0011100100101010100001000111101000110010110000010010110101011010111100011000101001100001111000101111
111001*********0001111100110101011100110111010110101100000010000101100100110010000000110100000100001
110101*********1000100110011001101011110111111100111111100001111111010000110100000001101011011111110
0000101101111001110111101110100101011111100110000010111100100011100001101111111010100010011010011110
0011011111001111101110011011111011000111101000011100100000100010001000110011000011100100110111001000
1001000001111100000001111000100101010000111101011010011001111101101001000111110100110110001101101001
0000011111001111101010111011000101010100100101100001110110111011100110101101111100101111001111000111
0111100110100000011000001100100001110110011100111001000111111011011110011000000110011000011101100000
1011111001101101000000010101101111111101111011001000000100001011010100011101010110011110000111010
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