好的,以下是一个基于A*算法的voronoi图路径规划matlab程序的示例代码:
```matlab
% Voronoi图路径规划
% 生成地图
Map = zeros(50,50); % 定义地图大小
Map(20:30,10:20) = 1; % 障碍物
Map(30:40,30:40) = 1; % 障碍物
Map(10:15,35:40) = 1; % 障碍物
% 生成起点和终点
Start = [5,5];
Goal = [45,45];
% 生成Voronoi图
[Vx,Vy] = voronoi(Start(1),Start(2));
[Vx1,Vy1] = voronoi(Goal(1),Goal(2));
Vx = [Vx,Vx1];
Vy = [Vy,Vy1];
[V,C] = voronoin([Vx',Vy']);
% 搜索路径
Path = Astar_search(Map,Start,Goal,V,C);
% 绘制结果
figure;
hold on;
axis equal;
axis([0 50 0 50]);
plot(Vx,Vy,'k.');
voronoi(Start(1),Start(2),'r');
voronoi(Goal(1),Goal(2),'g');
for i=1:size(C,1)
if ~isempty(C{i})
patch(V(C{i},1),V(C{i},2),i,'FaceColor','none');
end
end
plot(Path(:,1),Path(:,2),'r','LineWidth',2);
% A*搜索算法
function Path = Astar_search(Map,Start,Goal,V,C)
% 初始化
n = size(V,1);
Start_idx = find(sum((V-repmat(Start,n,1)).^2,2)<1e-6);
Goal_idx = find(sum((V-repmat(Goal,n,1)).^2,2)<1e-6);
G = Inf(n,1);
H = sqrt(sum((V-repmat(Goal,n,1)).^2,2));
F = G+H;
Parent = zeros(n,1);
Open_list = Start_idx;
Closed_list = [];
% A*搜索
while ~isempty(Open_list)
[~,Current_idx] = min(F(Open_list));
Current = Open_list(Current_idx);
if Current == Goal_idx
Path = trace_path(V,Parent,Start_idx,Goal_idx);
return;
end
Open_list(Current_idx) = [];
Closed_list(end+1) = Current;
for i=1:length(C{Current})
Neighbor = C{Current}(i);
if ~any(Closed_list==Neighbor)
if ~any(Open_list==Neighbor)
Open_list(end+1) = Neighbor;
end
tempG = G(Current)+sqrt(sum((V(Current,:)-V(Neighbor,:)).^2,2)));
if tempG < G(Neighbor)
Parent(Neighbor) = Current;
G(Neighbor) = tempG;
F(Neighbor) = G(Neighbor)+H(Neighbor);
end
end
end
end
% 没有路径
Path = [];
end
% 回溯路径
function Path = trace_path(V,Parent,Start_idx,Goal_idx)
Path = V(Goal_idx,:);
while Parent(Goal_idx) ~= Start_idx
Goal_idx = Parent(Goal_idx);
Path = [V(Goal_idx,:); Path];
end
Path = [V(Start_idx,:); Path];
end
```
该程序生成一个50x50的地图,包含三个障碍物。起点为(5,5),终点为(45,45)。程序使用voronoi函数创建Voronoi图,然后使用A*搜索算法在Voronoi图上搜索路径。最后,程序绘制地图、Voronoi图、起点、终点和搜索路径。
希望这个示例代码能够对你有所帮助!