伪随机路径生成代码

我写的代码如下，未能正确实现该功能，希望得到大神的协助，能够完整伪随机路径的生成。

伪随机路径的特性：
1.路径经过所设定区域内的每一个点；
2.当前点向下一个点的移动是在其八个方向随机选取一个方向的邻近点进行移动；
3.路径的起始点在边界上某一点，终止点也在边界上的另一点；
4.每个点只通过一次；
5.路径是连续的，不交叉；

% Parameters
R = 100; % Circle's radius
pd = 5;  % Point spacing

% Generate points within the circle
[x, y] = meshgrid(-R:pd:R, -R:pd:R);
inside_circle = x.^2 + y.^2 <= R^2;
x = x(inside_circle);
y = y(inside_circle);

% Plot the points
figure;
scatter(x, y, 'k.');
axis square;
hold on;
viscircles([0,0], R, 'Color', 'b'); % Draw the circle

% Initialize visited array and path
visited = zeros(size(x));
path = [];

% Find a central point to start
[~, center_idx] = min(sqrt(x.^2 + y.^2)); % Prefer proximity to the center
current_point = [x(center_idx), y(center_idx)];
path = [current_point];
visited(center_idx) = 1;

% Directions for movement
directions = [-pd, 0; pd, 0; 0, -pd; 0, pd; -pd, -pd; pd, pd; pd, -pd; -pd, pd];

% Move to adjacent points in one of the eight possible directions
while any(visited == 0)
    % Find available neighboring points
    neighbors = find_available_neighbors(current_point, x, y, visited, pd);
    
    % Choose a random available direction
    if ~isempty(neighbors)
        direction_idx = randi(size(neighbors, 1));
        current_point = neighbors(direction_idx, :);
        current_idx = find(x == current_point(1) & y == current_point(2));
        visited(current_idx) = 1;
        path = [path; current_point];
    else
        % If dead zone, perform local turnaround
        [path, visited] = local_turnaround(path, x, y, visited, pd);
        if isempty(path)
            break; % If no path is found, end the loop
        end
        current_point = path(end, :); % Update the current point
    end
end

% Draw the path
plot(path(:,1), path(:,2), 'r-');
hold off;

function neighbors = find_available_neighbors(current_point, x, y, visited, pd)
    neighbors = [];
    directions = [-pd, 0; pd, 0; 0, -pd; 0, pd; -pd, -pd; pd, pd; pd, -pd; -pd, pd];
    for i = 1:size(directions, 1)
        next_point = current_point + directions(i, :);
        next_idx = find(x == next_point(1) & y == next_point(2), 1);
        if ~isempty(next_idx) && visited(next_idx) == 0
            neighbors = [neighbors; next_point];
        end
    end
end

function [path, visited] = local_turnaround(path, x, y, visited, pd)
    for i = size(path, 1):-1:1
        current_point = path(i, :);
        neighbors = find_available_neighbors(current_point, x, y, visited, pd);
        if ~isempty(neighbors)
            % Disconnect at current point and reverse the path after the breakpoint
            new_path = path(1:i-1, :);
            reversed_path = flipud(path(i:end, :));
            % Reconnect the paths in order
            path = [new_path; reversed_path];
            % Update the visited points
            for j = 1:size(reversed_path, 1)
                idx = find(x == reversed_path(j, 1) & y == reversed_path(j, 2));
                visited(idx) = 1;
            end
            return
        end
    end
    % If no unvisited neighbors found, return empty path
    path = [];
end

代码的运行结果如图所示。