Astar3D算法matlab实现

数学建模中的常用路径规划算法。A*避障算法，实现语言是matlab

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%LISTS USED FOR ALGORITHM
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function [WayPointsOPEN_COUNT] = A_star（MAX_XMAX_YMAX_ZxvalyvalzvalxTargetyTargetzTargetMAPCLOSEDDisplay_DataMIN_Final_Data）
%%%%%%%SET Optimal_path NODE%%%%%%%%%%
WayPoints = [];
%%%%%%%SET STARTING NODE%%%%%%%%%%
xStart = xval;
yStart = yval;
zStart = zval;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%LISTS USED FOR ALGORITHM
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%OPEN LIST STRUCTURE
%---------------------------------------------------------------------

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2017-05-04 16:10  Astar_3D-master\
     目录           0  2017-05-04 16:10  Astar_3D-master\Astar_3D\
     文件        6127  2017-05-04 16:10  Astar_3D-master\Astar_3D\A_star.m
     文件        3507  2017-05-04 16:10  Astar_3D-master\Astar_3D\Main.m
     文件        2418  2017-05-04 16:10  Astar_3D-master\Astar_3D\MakeData.m
     文件      352406  2017-05-04 16:10  Astar_3D-master\Astar_3D\MapData.mat
     目录           0  2017-05-04 16:10  Astar_3D-master\Astar_3D\Result\
     文件      236278  2017-05-04 16:10  Astar_3D-master\Astar_3D\Result\3D仿真结果.bmp
     文件      236278  2017-05-04 16:10  Astar_3D-master\Astar_3D\Result\垂直剖面视图.bmp
     文件      236278  2017-05-04 16:10  Astar_3D-master\Astar_3D\Result\水平剖面视图.bmp
     文件      299095  2017-05-04 16:10  Astar_3D-master\Astar_3D\TerrainData.mat
     文件      267776  2017-05-04 16:10  Astar_3D-master\Astar_3D\Thumbs.db
     文件         171  2017-05-04 16:10  Astar_3D-master\Astar_3D\distanced.m
     文件       22610  2017-05-04 16:10  Astar_3D-master\Astar_3D\expand_array.m
     文件         617  2017-05-04 16:10  Astar_3D-master\Astar_3D\insert_open.m
     文件        1016  2017-05-04 16:10  Astar_3D-master\Astar_3D\min_fn.m
     文件         313  2017-05-04 16:10  Astar_3D-master\Astar_3D\node_index.m
     文件       29184  2017-05-04 16:10  Astar_3D-master\Astar_3D\说明.doc
     文件           0  2017-05-04 16:10  Astar_3D-master\README.md