function?path?=?DijkstraPlan（positionsign）
%%?基于Dijkstra算法的路徑規(guī)劃算法
%position????input?????%節(jié)點(diǎn)位置
%sign????????input?????%節(jié)點(diǎn)間是否可達(dá)
?
%path????????output????%規(guī)劃路徑
?
%%?計(jì)算路徑距離
cost?=?ones（size（sign））*10000;
[nm]?=?size（sign）;
for?i?=?1:n
????for?j?=?1:m
????????if?sign（ij）?==?1
????????????cost（ij）?=?sqrt（sum（（position（i:）-position（j:））.^2））;
????????end
????end
end
?
%%?路徑開(kāi)始點(diǎn)
dist?=?cost（1:）;?????????????%節(jié)點(diǎn)間路徑長(zhǎng)度???????????
s?=?zeros（size（dist））;????????%節(jié)點(diǎn)經(jīng)過(guò)標(biāo)志
s（1）?=?1;dist（1）?=?0;
path?=?zeros（size（dist））;?????%依次經(jīng)過(guò)的節(jié)點(diǎn)
path（1:）?=?1;
?
%%?循環(huán)尋找路徑點(diǎn)
for?num?=?2:n???
????
????%?選擇路徑長(zhǎng)度最小點(diǎn)
????mindist?=?10000;
????for?i?=?1:length（dist）
????????if?s（i）?==?0
????????????if?dist（i）????????????????mindist?=?dist（i）;
????????????????u?=?i;
????????????end
????????end
????end
????
????%?更新點(diǎn)點(diǎn)間路徑
????s（u）?=?1;
????for?w?=?1:length（dist）
????????if?s（i）?==?0
????????????if?dist（u）+cost（uw）?????????????????dist（w）?=?dist（u）+cost（uw）;
????????????????path（w）?=?u;
????????????end
????????end
????end
end

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件????????190??2009-09-04?09:54??chapter23\barrier.txt

?????文件???????1158??2010-11-17?08:41??chapter23\DijkstraPlan.m

?????文件??????????0??2010-11-17?08:29??chapter23\DijstraPlan.m

?????文件????????122??2009-07-19?18:08??chapter23\lines.txt

?????文件???????5601??2010-12-29?10:43??chapter23\main.m

?????文件????????989??2009-08-05?18:33??chapter23\matrix.txt

?????目錄??????????0??2011-08-28?11:14??chapter23

-----------?---------??----------?-----??----

?????????????????8060????????????????????7