A*算法与B样条曲线优化：路径对比与算法优化Matlab代码及ROS路径规划器插件
直接上干货！今天咱们聊聊路径规划里A*算法和B样条曲线的组合拳。你肯定见过A*规划出来的锯
齿形路线对吧？那些直角转弯能把移动机器人晃吐了，这时候就需要B样条来做个马杀鸡。
先看个Matlab的A*实现（核心部分截取）：
```matlab
function path = Astar(grid, start, goal)
[rows, cols] = size(grid);
openSet = PriorityQueue();
openSet.insert(start, 0);
cameFrom = containers.Map();
gScore = inf(rows, cols);
gScore(start(1), start(2)) = 0;
while ~openSet.isempty()
current = openSet.extractMin();
if isequal(current, goal)
path = reconstructPath(cameFrom, current);
return;
end
neighbors = getNeighbors(current, grid); % 八邻域搜索
for i = 1:length(neighbors)
neighbor = neighbors{i};
tentative_gScore = gScore(current(1), current(2)) + 1;
if tentative_gScore < gScore(neighbor(1), neighbor(2))
cameFrom(num2str(neighbor)) = current;
gScore(neighbor(1), neighbor(2)) = tentative_gScore;
fScore = tentative_gScore + heuristic(neighbor, goal);
if ~openSet.contains(neighbor)
openSet.insert(neighbor, fScore);
