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A_Star6.m
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A_Star6.m
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%多小车出货过程
%DEFINE THE 2-D MAP ARRAY
clear;
%占用情况
%蓝色车架有货序号
G=[8,4];%[1,3,5,7,8,6,4,2]
%绿色车架有货序号
B=[8,5,1];%[2,4,6,8,7,5,3,1]
%紫色车架有货序号
C=[6,2,7];%[8,6,4,2,1,3,5,7]
%蓝色车头有货序号
D=[7,6];%[8,7,6,5,4,3,2,1]
%绿色车头有货序号
E=[1,6];%[7,5,3,1,2,4,6,8]
%紫色车头有货序号
F=[4,2,5];%[8,6,4,2,1,3,5,7]
%将有货物存在的序号填入数列中，并在下面对应矩形内加上'FaceColor','color'
MAX_X=64;
MAX_Y=63;
MAX_VAL=10;
%This array stores the coordinates of the map and the
%Objects in each coordinate
% Obtain Obstacle, Target and Robot Position
% Initialize the MAP with input values
% Obstacle=-1,Target = 0,Robot=1,Space=2
A=[62.4852813742386,125.727922061358,71.4852813742386,117.727922061358,78.4852813742386,109.727922061358,86.4852813742386,101.727922061358;135.313708498985,39.7279220613578,127.313708498985,44.2132034355964,119.313708498985,51.7989898732233,111.313708498985,60.2132034355964;44.8994949366117,28.4852813742386,53.8994949366117,20.4852813742386,60.8994949366117,12.4852813742386,68.8994949366117,7.41421356237310;105.899494936612,89.6274169979695,97.8994949366117,82.2132034355964,89.8994949366117,73.2132034355964,81.8994949366117,69.3137084989847;75.7279220613578,92.1421356237309,67.7279220613578,100.556349186104,59.3137084989847,108.142135623731,51.7279220613578,116.142135623731;88.8994949366117,28.4852813742386,93.3847763108502,20.4852813742386,101.384776310850,11.4852813742386,109.384776310850,8.41421356237310];
x_val = 1;
y_val = 1;
axis([1 MAX_X+1 1 MAX_Y+1])
grid on;
hold on;
n=0;%Number of Obstacles
x = 1 : 65;
y = 1 : 64;
x1 = [x(1) x(end)]';
y1 = [y(1) y(end)]';
x2 = repmat(x1, 1, length(y)-2);
x3 = repmat(x(2) : x(end-1), 2, 1);
xData = [x2 x3];
y2 = repmat(y1, 1, length(x)-2);
y3 = repmat(y(2) : y(end-1), 2, 1);
yData = [y3 y2];
h = line(xData, yData);
box on;
set(h, 'Color', 'w');
rectangle('Position',[1,4,1,5],'Curvature', [0 0], 'FaceColor','m');
rectangle('Position',[1,15,1,5],'Curvature', [0 0], 'FaceColor','g');
rectangle('Position',[1,26,1,5],'Curvature', [0 0], 'FaceColor','b');
rectangle('Position',[1,34,1,5],'Curvature', [0 0], 'FaceColor','m');
rectangle('Position',[1,45,1,5],'Curvature', [0 0], 'FaceColor','g');
rectangle('Position',[1,56,1,5],'Curvature', [0 0], 'FaceColor','b');
rectangle('Position',[64,4,1,5],'Curvature', [0 0], 'FaceColor','m');
rectangle('Position',[64,15,1,5],'Curvature', [0 0], 'FaceColor','g');
rectangle('Position',[64,26,1,5],'Curvature', [0 0], 'FaceColor','b');
rectangle('Position',[64,34,1,5],'Curvature', [0 0], 'FaceColor','m');
rectangle('Position',[64,45,1,5],'Curvature', [0 0], 'FaceColor','g');
rectangle('Position',[64,56,1,5],'Curvature', [0 0], 'FaceColor','b');
rectangle('Position',[7,4,5,3],'linewidth',1,'EdgeColor','b','FaceColor','b');%蓝色车头货架
rectangle('Position',[12,4,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[7,12,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[12,12,5,3],'linewidth',1,'EdgeColor','b','FaceColor','b');
rectangle('Position',[7,20,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[12,20,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[7,28,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[12,28,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[7,34,5,3],'linewidth',1,'EdgeColor','b');%蓝色车架货架
rectangle('Position',[12,34,5,3],'linewidth',1,'EdgeColor','b','FaceColor','b');
rectangle('Position',[7,42,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[12,42,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[7,50,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[12,50,5,3],'linewidth',1,'EdgeColor','b','FaceColor','b');
rectangle('Position',[7,58,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[12,58,5,3],'linewidth',1,'EdgeColor','b');
rectangle('Position',[27,4,5,3],'linewidth',1,'EdgeColor','g');%绿色车头货架
rectangle('Position',[32,4,5,3],'linewidth',1,'EdgeColor','g');
rectangle('Position',[27,12,5,3],'linewidth',1,'EdgeColor','g');
rectangle('Position',[32,12,5,3],'linewidth',1,'EdgeColor','g','FaceColor','g');
rectangle('Position',[27,20,5,3],'linewidth',1,'EdgeColor','g');
rectangle('Position',[32,20,5,3],'linewidth',1,'EdgeColor','g');
rectangle('Position',[27,28,5,3],'linewidth',1,'EdgeColor','g','FaceColor','g');
rectangle('Position',[32,28,5,3],'linewidth',1,'EdgeColor','g');
rectangle('Position',[27,34,5,3],'linewidth',1,'EdgeColor','g');%绿色车架货架
rectangle('Position',[32,34,5,3],'linewidth',1,'EdgeColor','g','FaceColor','g');
rectangle('Position',[27,42,5,3],'linewidth',1,'EdgeColor','g','FaceColor','g');
rectangle('Position',[32,42,5,3],'linewidth',1,'EdgeColor','g');
rectangle('Position',[27,50,5,3],'linewidth',1,'EdgeColor','g');
rectangle('Position',[32,50,5,3],'linewidth',1,'EdgeColor','g');
rectangle('Position',[27,58,5,3],'linewidth',1,'EdgeColor','g','FaceColor','g');
rectangle('Position',[32,58,5,3],'linewidth',1,'EdgeColor','g');
rectangle('Position',[47,4,5,3],'linewidth',1,'EdgeColor','m');%紫色车头货架
rectangle('Position',[52,4,5,3],'linewidth',1,'EdgeColor','m');
rectangle('Position',[47,12,5,3],'linewidth',1,'EdgeColor','m','FaceColor','m');
rectangle('Position',[52,12,5,3],'linewidth',1,'EdgeColor','m');
rectangle('Position',[47,20,5,3],'linewidth',1,'EdgeColor','m');
rectangle('Position',[52,20,5,3],'linewidth',1,'EdgeColor','m','FaceColor','m');
rectangle('Position',[47,28,5,3],'linewidth',1,'EdgeColor','m');
rectangle('Position',[52,28,5,3],'linewidth',1,'EdgeColor','m','FaceColor','m');
rectangle('Position',[47,34,5,3],'linewidth',1,'EdgeColor','m','FaceColor','m');%紫色车架货架
rectangle('Position',[52,34,5,3],'linewidth',1,'EdgeColor','m');
rectangle('Position',[47,42,5,3],'linewidth',1,'EdgeColor','m');
rectangle('Position',[52,42,5,3],'linewidth',1,'EdgeColor','m','FaceColor','m');
rectangle('Position',[47,50,5,3],'linewidth',1,'EdgeColor','m');
rectangle('Position',[52,50,5,3],'linewidth',1,'EdgeColor','m');
rectangle('Position',[47,58,5,3],'linewidth',1,'EdgeColor','m');
rectangle('Position',[52,58,5,3],'linewidth',1,'EdgeColor','m','FaceColor','m');
%% BEGIN Interactive Obstacle, Target, Start Location selection
pause(1);
h=msgbox('请指定出货口');
uiwait(h,5);
if ishandle(h) == 1
delete(h);
end
xlabel('请指定出货口','Color','black');
but=1;
i=1;
ATarget=[];
while (but == 1) %Repeat until the Left button is not clicked
[xval,yval,but]=ginput(1);
xval=floor(xval);
yval=floor(yval);
if(but==1)
ATarget(i,1)=i;
ATarget(i,2)=xval;
ATarget(i,3)=yval;
i=i+1;
plot(xval+.5,yval+.5,'gd');
text(xval+1,yval+.5,'Target')
end
end
pause(1);
h=msgbox('请指定小车分布，右键结束');
uiwait(h,5);
if ishandle(h) == 1
delete(h);
end
xlabel('请指定小车分布，右键结束 ','Color','black');
but=1;
i=1;
AStart=[];
while (but == 1) %Repeat until the Left button is not clicked
[xval,yval,but]=ginput(1);
xval=floor(xval);
yval=floor(yval);
if(but==1)
AStart(i,1)=i;
AStart(i,2)=xval;
AStart(i,3)=yval;
i=i+1;
plot(xval+.5,yval+.5,'bo');
end
end
num=min(size(AStart,1),size(ATarget,1));
AUsedCarIndex=[];
%PathALL=[];
SizePath=[];
aa=[];
PathALL(1)=libpointer('int16PtrPtr',aa);
for inx=1:1:num
crash_points=[];
xTarget=ATarget(inx,2);%X Coordinate of the Target
yTarget=ATarget(inx,3);%Y Coordinate of the Target
[UsedCarIndex,Path1,Path2,Path3]=find_car_and_path2(AStart,xTarget,yTarget,AUsedCarIndex,crash_points,A,B,C,D,E,F,G);
newPath=Path3;
% plot(newPath(:,1)+.5,newPath(:,2)+.5,'LineWidth',1);
if inx>1
for jnx=1:1:inx-1
tempt_Path=get(PathALL(jnx+1),'Value');
size_tempt_Path=size(tempt_Path,1);
find_crash=1;
num_crash_points=0;
while find_crash==1
size_newPath=size(newPath,1);
count=min(size_newPath,size_tempt_Path);
kdx=1;
while kdx<count
if (newPath(size_newPath-kdx+1,1)==tempt_Path(size_tempt_Path-kdx+1,1))&&(newPath(size_newPath-kdx+1,2)==tempt_Path(size_tempt_Path-kdx+1,2))||(((newPath(size_newPath-kdx+1,1)==tempt_Path(size_tempt_Path-kdx,1))&&(newPath(size_newPath-kdx+1,2)==tempt_Path(size_tempt_Path-kdx,2)))&&((newPath(size_newPath-kdx,1)==tempt_Path(size_tempt_Path-kdx+1,1))&&(newPath(size_newPath-kdx,2)==tempt_Path(size_tempt_Path-kdx+1,2))))
num_crash_points=num_crash_points+1;
crash_points(num_crash_points,1)=newPath(size_newPath-kdx+1,1);
crash_points(num_crash_points,2)=newPath(size_newPath-kdx+1,2);
[UsedCarIndex,Path1,Path2,Path3]=find_car_and_path2(AStart,xTarget,yTarget,AUsedCarIndex,crash_points,A,B,C,D,E,F,G);
newPath=Path3;
% plot(newPath(:,1)+.5,newPath(:,2)+.5,'LineWidth',1);
kdx=1000000000;%用于结束小循环
end
kdx=kdx+1;
end
if kdx<100000
find_crash=0;
end
end
end
end
AUsedCarIndex(inx,1)=UsedCarIndex(1);
% newPath
PathALL(inx+1)=libpointer('int16PtrPtr',newPath);
end
% for inx=2:1:size(PathALL,2)
% Path3=get(PathALL(inx),'Value');
% j=size(Path3,1);%get(c(1),'Value')
% %Plot the Optimal Path!
% p=plot(Path3(j,1)+.5,Path3(j,2)+.5,'bo');
% j=j-1;
% for i=j:-1:1
% pause(.1);
% set(p,'XData',Path3(i,1)+.5,'YData',Path3(i,2)+.5);
% drawnow ;
% end
% plot(Path3(:,1)+.5,Path3(:,2)+.5,'LineWidth',1);
%
% end
path1=[];
path2=[];
path3=[];
num_path= size(PathALL);
for inx=1:1:num_path(2)
if inx==1
path1=get(PathALL(2),'Value');
elseif inx==2
path2=get(PathALL(3),'Value');
elseif inx==3
path3=get(PathALL(4),'Value');
end
end
Lpath1=size(path1,1);
Lpath2=size(path2,1);
Lpath3=size(path3,1);
j=max(max(Lpath1,Lpath2),Lpath3);
%Plot the Optimal Path!
p=plot(path1(size(path1,1),1)+.5,path1(size(path1,1),2)+.5,'bo');
j=j;
for i=j:-1:1%打印小车所在位置
pause(.25);
if (j-i<Lpath1)&&(j-i<Lpath2)&&(j-i<Lpath3)
set(p,'XData',[path1(Lpath1-j+i,1)+.5,path2(Lpath2-j+i,1)+.5,path3(Lpath3-j+i,1)+.5],'YData',[path1(Lpath1-j+i,2)+.5,path2(Lpath2-j+i,2)+.5,path3(Lpath3-j+i,2)+.5],'Color','r');
elseif(j-i<Lpath1)&&(j-i+3<Lpath2)&&(j-i>=Lpath3)
set(p,'XData',[path1(Lpath1-j+i,1)+.5,path2(Lpath2-j+i-3,1)+.5],'YData',[path1(Lpath1-j+i,2)+.5,path2(Lpath2-j+i-3,2)+.5],'Color','r');
elseif(j-i<Lpath1)&&(j-i>=Lpath2)&&(j-i<Lpath3)
set(p,'XData',[path1(Lpath1-j+i,1)+.5,path3(Lpath3-j+i,1)+.5],'YData',[path1(Lpath1-j+i,2)+.5,path3(Lpath3-j+i,2)+.5],'Color','r');
elseif(j-i>=Lpath1)&&(j-i<Lpath2)&&(j-i<Lpath3)
set(p,'XData',[path2(Lpath2-j+i,1)+.5,path3(Lpath3-j+i,1)+.5],'YData',[path2(Lpath2-j+i,2)+.5,path3(Lpath3-j+i,2)+.5],'Color','r');
elseif(j-i<Lpath1)&&(j-i>=Lpath2)&&(j-i>=Lpath3)
set(p,'XData',path1(Lpath1-j+i,1)+.5,'YData',path1(Lpath1-j+i,2)+.5,'Color','r');
elseif (j-i>=Lpath1)&&(j-i<Lpath2)&&(j-i>=Lpath3)
set(p,'XData',path2(Lpath2-j+i,1)+.5,'YData',path2(Lpath2-j+i,2)+.5,'Color','r');
elseif(j-i>=Lpath1)&&(j-i>=Lpath2)&&(j-i<Lpath3)
set(p,'XData',path3(Lpath3-j+i,1)+.5,'YData',path3(Lpath3-j+i,2)+.5,'Color','r');
else
end
%if j-i<Lpath2
% set(p,'XData',path2(Lpath2-j+i,1)+.5,'YData',path2(Lpath2-j+i,2)+.5);
%end
drawnow ;
end;
%%打印小车轨迹
plot(path1(:,1)+.5,path1(:,2)+.5,'LineWidth',1);
plot(path2(:,1)+.5,path2(:,2)+.5,'LineWidth',1);
plot(path3(:,1)+.5,path3(:,2)+.5,'LineWidth',1);