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路径规划-A-Star.html
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路径规划-A-Star.html
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<!DOCTYPE html>
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<html>
<head>
<meta charset="utf-8">
<title>地图路线规划</title>
<style type="text/css">
.grids{border:1px solid white;width:70px;height:70px;float:left;margin:1px;background:gray;}
</style>
</head>
<body>
<div id="div">
</div>
<script>
//开始位置
var startIndex = 0; //第几行
var startCell = 6;//左数第几格
//结束位置
var endIndex = 5;
var endCell = 4;
//地图格子的数量
var rectCount = 7;
//矩形对象，用于展示格子
function Rect(){
//var next;//下一个元素
//var pre; //上一个
var data; //保存的内容
var width = 70;
var height = 70;
}
//用于保存地图对象的二维数组，和寻路无关，主要用于地图格子绘制
var grids = new Array();
var MAP = {};
//地图，二维数组
MAP.arr = new Array();
//初始化足迹数组
var marks = new Array();
//可行走路线
var allPlans = new Array();
for(var i = 0;i<rectCount;i++){
grids[i] = new Array();
marks[i] = new Array();
MAP.arr[i]=new Array();
for(var j=0;j<rectCount;j++){
grids[i][j] = new Rect();
}
}
MAP.rows = rectCount;
MAP.cols = rectCount;
//设置障碍物所在的格子
MAP.arr[1][5]=1;
MAP.arr[1][4]=1;
MAP.arr[1][3]=1;
MAP.arr[2][4]=1;
MAP.arr[2][6] = 1;
//MAP.arr[4][2] = 1;
MAP.arr[4][3] = 1;
MAP.arr[4][4] = 1;
MAP.arr[3][4] = 1;
MAP.arr[4][5] = 1;
MAP.arr[5][5] = 1;
MAP.arr[6][3] = 1;
//MAP.arr[6][4] = 1;
//draw rect
for(var i = 0;i<grids.length;i++){
var g = grids[i];
for(var j=0;j<g.length;j++){
var next = g[j];
var div = drawRect(next,(j+1)>=g.length?true:false);
if(div!=null){
g[j].data = div;
}
}
}
//绘制障碍物
for(var i = 0;i<MAP.arr.length;i++){
var g = MAP.arr[i];
for(var j=0;j<g.length;j++){
if(1==g[j]){
drawPoint(i,j,"blue");
}
}
}
//var drawIndex = 1;
//改变格子的颜色
function drawPoint(index,cell,color){
//console.log(index+" , "+cell);
var g = grids[index][cell];
var style = "border:1px solid blue;background:green;";
if(color){
if(color=="red"){
style = "border:1px solid red;background:red;";
}else if(color=="gray"){
style = "border:1px solid gray;background:gray;";
}else if(color=="blue"){
style = "border:1px solid blue;background:blue;";
}
}
g.data.style= style;
//g.data.innerHTML=""+drawIndex;
//drawIndex++;
}
//draw start point and end point
drawPoint(startIndex,startCell);
drawPoint(endIndex,endCell);
function drawRect(rect,isLast){
var div = document.createElement("div");
div.className="grids"
//div.style="width:"+rect.width+"px;height:"+rect.height+"px";
document.getElementById("div").appendChild(div);
if(isLast){
//div.style="float:none;";
var br = document.createElement("div");
br.style="clear:both";
document.getElementById("div").appendChild(br)
}
return div;
}
//其中的MAP.arr是二维数组
function searchRoad(start_x,start_y,end_x,end_y){
var openList=[], //开启列表
closeList=[], //关闭列表
result=[], //结果数组
result_index; //结果数组在开启列表中的序号
openList.push({x:start_x,y:start_y,G:0});//把当前点加入到开启列表中，并且G是0
do{
var currentPoint = openList.pop();
closeList.push(currentPoint);
var surroundPoint=SurroundPoint(currentPoint);
for(var i in surroundPoint) {
var item = surroundPoint[i]; //获得周围的八个点
if (
item.x>=0 && //判断是否在地图上
item.y>=0 &&
item.x<MAP.rows &&
item.y<MAP.cols &&
MAP.arr[item.x][item.y] != 1 && //判断是否是障碍物
!existList(item, closeList) && //判断是否在关闭列表中
MAP.arr[item.x][currentPoint.y]!=1 && //判断之间是否有障碍物，如果有障碍物是过不去的
MAP.arr[currentPoint.x][item.y]!=1) {
//g 到父节点的位置
//如果是上下左右位置的则g等于10，斜对角的就是14
var g = currentPoint.G + ((currentPoint.x - item.x) * (currentPoint.y - item.y) == 0 ? 10 : 14);
if (!existList(item, openList)) { //如果不在开启列表中
//计算H，通过水平和垂直距离进行确定
item['H'] = Math.abs(end_x - item.x) * 10 + Math.abs(end_y - item.y) * 10;
item['G'] = g;
item['F'] = item.H + item.G;
item['parent'] = currentPoint;
openList.push(item);
}
else { //存在在开启列表中，比较目前的g值和之前的g的大小
var index = existList(item, openList);
//如果当前点的g更小
if (g < openList[index].G) {
openList[index].parent = currentPoint;
openList[index].G = g;
openList[index].F=g+openList[index].H;
}
}
}
}
//如果开启列表空了，没有通路，结果为空
if(openList.length==0) {
break;
}
openList.sort(sortF);//这一步是为了循环回去的时候，找出 F 值最小的, 将它从 "开启列表" 中移掉
}while(!(result_index=existList({x:end_x,y:end_y},openList)));
//判断结果列表是否为空
if(!result_index) {
result=[];
}
else {
var currentObj=openList[result_index];
do{
//把路径节点添加到result当中
result.unshift({
x:currentObj.x,
y:currentObj.y
});
currentObj=currentObj.parent;
}while (currentObj.x!=start_x || currentObj.y!=start_y);
}
return result;
}
var result = searchRoad(startIndex,startCell,endIndex,endCell);
console.log(result);
for(var i in result){
var point = result[i];
drawPoint(point.x,point.y);
}
//用F值对数组排序
function sortF(a,b){
return b.F- a.F;
}
//获取周围八个点的值
function SurroundPoint(curPoint){
var x=curPoint.x,y=curPoint.y;
return [
{x:x-1,y:y-1},
{x:x,y:y-1},
{x:x+1,y:y-1},
{x:x+1,y:y},
{x:x+1,y:y+1},
{x:x,y:y+1},
{x:x-1,y:y+1},
{x:x-1,y:y}
]
}
//判断点是否存在在列表中，是的话返回的是序列号
function existList(point,list) {
for(var i in list) {
if(point.x==list[i].x && point.y==list[i].y) {
return i;
}
}
return false;
}
</script>
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