流程图绘制方法 -流程图绘制方法备份 Created with Raphaël 2.1.0 http://www.google.com Start http://www.google.com My operation http://www.google.com Yes or No? http://www.google.com catch something... http://www.google.com End http://www.google.com My Subroutine yes no -A*算法流程图 Created with Raphaël 2.1.0 http://www.google.com Start http://www.google.com Sstart放入OPEN表中 f(Sstart)=h(Sstart) OPEN is Null? 规划失败 http://www.google.com End http://www.google.com 选OPEN表中fmin的节点作为Best节点, 并把它放入CLOSED表中 Best节点时目标点? 成功 扩展Best节点,产生其子节点SUC 计算g(SUC)=g(Best)+g(Best,SUC) SUC属于OPEN? g(SUC)<g(OLD)? 修正SUC的父节点为节 计算f(SUC)=g(SUC)+h(SUC) SUC属于CLOSED? g(SUC)<g(OLD)? 把SUC放入OPEN表中 yes no yes no yes no yes no yes no yes no