{"id":46626,"date":"2026-08-11T17:00:35","date_gmt":"2026-08-11T09:00:35","guid":{"rendered":"https:\/\/case.ntu.edu.tw\/blog\/?p=46626"},"modified":"2026-08-11T17:01:21","modified_gmt":"2026-08-11T09:01:21","slug":"%e5%8b%87%e9%97%96%e6%9c%aa%e7%9f%a5%e9%a0%98%e5%9f%9f-%e9%9b%bb%e8%85%a6%e9%bc%a0%e7%9a%84%e8%bf%b7%e5%ae%ae%e6%8e%a2%e7%b4%a2%e7%ad%96%e7%95%a5","status":"publish","type":"post","link":"https:\/\/case.ntu.edu.tw\/blog\/?p=46626","title":{"rendered":"\u52c7\u95d6\u672a\u77e5\u9818\u57df \u96fb\u8166\u9f20\u7684\u8ff7\u5bae\u63a2\u7d22\u7b56\u7565"},"content":{"rendered":"

\u8ff7\u5bae\u63a2\u7d22\u4e00\u76f4\u662f\u4eba\u985e\u559c\u611b\u7684\u6311\u6230\u4e4b\u4e00\uff0c\u800c\u6709\u4e00\u7a2e\u5fae\u578b\u8eca\u8f1b\u7684\u5c0e\u822a\u6a5f\u5668\u4eba\uff0c\u5c08\u9580\u88ab\u8a2d\u8a08\u7528\u4f86\u63a2\u7d22\u8ff7\u5bae\uff0c\u4e26\u6703\u5b9a\u671f\u8209\u8fa6\u76f8\u95dc\u7af6\u8cfd\uff0c\u9019\u5c31\u662f\u96fb\u8166\u9f20 (Micromouse) \u7af6\u8cfd\u3002\u53c3\u8cfd\u8005\u5fc5\u9808\u8a2d\u8a08\u80fd\u5920\u81ea\u4e3b\u5c0e\u822a\u7684\u6a5f\u5668\u8eca\uff0c\u5728\u672a\u77e5\u8ff7\u5bae\u4e2d\u5229\u7528\u611f\u6e2c\u5668\u8490\u96c6\u74b0\u5883\u8cc7\u8a0a\uff0c\u5efa\u7acb\u5730\u5716\uff0c\u4e26\u5c0b\u627e\u901a\u5f80\u7d42\u9ede\u7684\u6700\u4f73\u8def\u5f91\u3002\u672c\u6587\u4ecb\u7d39\u96fb\u8166\u9f20\u7af6\u8cfd\u7684\u8d77\u6e90\u8207\u898f\u5247\uff0c\u8aaa\u660e\u5176\u5e38\u7528\u7684\u611f\u6e2c\u6280\u8853\u8207\u5b9a\u4f4d\u65b9\u5f0f\uff0c\u4e26\u63a2\u8a0e\u8ff7\u5bae\u63a2\u7d22\u7b56\u7565\u3002\u6b64\u5916\uff0c\u4e5f\u4ecb\u7d39\u9ad8\u901f\u7af6\u8cfd\u4e2d\u5e38\u898b\u7684\u6700\u901f\u8def\u5f91\u898f\u5283\u8207\u904b\u52d5\u63a7\u5236\u6280\u8853\u3002\u900f\u904e\u96fb\u8166\u9f20\u7af6\u8cfd\uff0c\u4e0d\u50c5\u80fd\u77ad\u89e3\u6a5f\u5668\u4eba\u5982\u4f55\u5728\u672a\u77e5\u74b0\u5883\u4e2d\u505a\u51fa\u6c7a\u7b56\uff0c\u4e5f\u80fd\u4e00\u7aba\u5c0e\u822a\u7cfb\u7d71\u8207\u667a\u6167\u7269\u6d41\u80cc\u5f8c\u7684\u8def\u5f91\u898f\u5283\u539f\u7406\u3002<\/strong><\/span><\/p>\n

\u64b0\u6587\uff5c\u7a7f\u5c71\u7532<\/strong><\/p>\n

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 <\/p>\n

\u96fb\u8166\u9f20\u7684\u8ff7\u5bae\u63a2\u7d22\u7b56\u7565<\/strong><\/span><\/h6>\n

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\"\"
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\"\"
\u57162\uff1a\u8d77\u9ede\u8207\u7d42\u9ede\u6240\u5728\u7246\u9762(a)\u76f8\u9023\u8207(b)\u90e8\u76f8\u9023\u7684\u60c5\u5f62\u3002\u82e5\u76f8\u9023\u6642\uff0c\u8cbc\u8457\u7246\u58c1\u8d70\u53ef\u4ee5\u62b5\u9054\u7d42\u9ede\uff1b\u4e0d\u76f8\u9023\u6642\uff0c\u5247\u7121\u6cd5\u62b5\u9054\u3002\u7d05\u7dda\u8868\u793a\u8cbc\u8457\u7246\u7684\u884c\u8d70\u8def\u5f91\uff5c\u4f86\u6e90\uff1a\u4f5c\u8005\u7e6a\u88fd<\/figcaption><\/figure>\n

\u5982\u679c\u60f3\u8981\u52a0\u5feb\u901f\u5ea6\uff0c\u53ef\u4ee5\u8b93\u96fb\u8166\u9f20\u96a8\u6a5f\u6df1\u5165\u4e00\u689d\u8def\u5f91\uff0c\u7d93\u904e\u5c94\u8def\u96a8\u6a5f\u9078\u64c7\u65b9\u5411\uff0c\u76f4\u5230\u906d\u9047\u6b7b\u8def\u5f8c\u8fd4\u56de\u4e0a\u4e00\u500b\u5c94\u8def\uff0c\u5617\u8a66\u53e6\u4e00\u689d\u8def\u5f91\u3002\u9019\u7a2e\u65b9\u6cd5\u88ab\u7a31\u4f5c\u6df1\u5ea6\u512a\u5148\u63a2\u7d22 (Depth-First Search, DFS)\uff0c\u57f7\u884c\u4e0a\u8017\u8cbb\u7684\u8a18\u61b6\u9ad4\u8f03\u5c11\uff0c\u80fd\u5feb\u901f\u63a2\u67e5\u8def\u5f91\uff0c\u4f46\u4e0d\u4fdd\u8b49\u627e\u5230\u7684\u8def\u5f91\u662f\u6700\u77ed\u7684\u3002\u8207\u4e4b\u76f8\u5c0d\u7684\u65b9\u6cd5\u53eb\u5ee3\u5ea6\u512a\u5148\u63a2\u7d22 (Breadth-First Search, BFS)\uff0c\u5c07\u8ff7\u5bae\u7684\u6bcf\u5c64\u5c94\u8def\u4f9d\u5e8f\u63a2\u7d22\uff0c\u627e\u5b8c\u7b2c\u4e00\u5c64\uff0c\u518d\u5f80\u7b2c\u4e8c\u5c64\uff0c\u518d\u524d\u9032\u7b2c\u4e09\u5c64\uff0c\u4ee5\u6b64\u985e\u63a8\u3002\u96d6\u7136\u9019\u500b\u65b9\u6cd5\u53ef\u4ee5\u627e\u5230\u6700\u77ed\u8def\u5f91\uff0c\u4f46\u96fb\u8166\u9f20\u7121\u6cd5\u77ac\u9593\u79fb\u52d5\uff0c\u4f86\u56de\u63a2\u7d22\u6703\u82b1\u8cbb\u5f88\u591a\u6642\u9593\uff0c\u6240\u4ee5\u901a\u5e38\u8981\u91dd\u5c0d\u8def\u5f91\u7684\u7279\u6027\u8a2d\u5b9a\u6b0a\u91cd\uff0c\u4f8b\u5982\u8ddd\u96e2\u6216\u65b9\u5411\u3002\u4e00\u7a2e\u5ee3\u6cdb\u4f7f\u7528\u7684\u65b9\u6cd5\uff0c\u88ab\u7a31\u70ba\u6cdb\u6d2a\u586b\u5145 (Flood Fill) \u6f14\u7b97\u6cd5\u3002\u5b83\u7684\u6982\u5ff5\u53ef\u4ee5\u60f3\u50cf\u6210\u5f80\u8ff7\u5bae\u5012\u6c34\uff0c\u6c34\u6703\u6cbf\u8457\u6bcf\u4e00\u689d\u53ef\u901a\u884c\u7684\u9053\u8def\u9010\u6f38\u5411\u5916\u64f4\u6563\uff0c\u8ddd\u96e2\u7d42\u9ede\u8d8a\u8fd1\u7684\u4f4d\u7f6e\u6578\u503c\u8d8a\u5c0f\uff0c\u8ddd\u96e2\u8d8a\u9060\u6578\u503c\u8d8a\u5927\u3002\u6578\u5b57\u586b\u5b8c\u5f8c\uff0c\u53ea\u8981\u6bd4\u8f03\u76f8\u9130\u683c\u5b50\u7684\u6578\u503c\uff0c\u59cb\u7d42\u671d\u8457\u6578\u503c\u8f03\u5c0f\u7684\u65b9\u5411\u8d70\uff0c\u5c31\u80fd\u627e\u5230\u6700\u77ed\u8def\u5f91\uff0c\u5982\u57163(a) \u6240\u793a\u3002<\/p>\n

\u9664\u4e86Flood Fill\u4e4b\u5916\uff0cDijkstra\u6f14\u7b97\u6cd5\u8207A star (A*) \u6f14\u7b97\u6cd5\u4e5f\u662f\u5e38\u898b\u7684\u8def\u5f91\u898f\u5283\u65b9\u6cd5\u3002Dijkstra\u7684\u6838\u5fc3\u6982\u5ff5\uff0c\u662f\u5f9e\u8d77\u9ede\u958b\u59cb\u9010\u6b65\u8a08\u7b97\u5230\u6bcf\u4e00\u500b\u4f4d\u7f6e\u7684\u6700\u5c0f\u7d2f\u7a4d\u6210\u672c\uff0c\u4f46\u6b64\u6cd5\u6703\u671d\u5411\u56db\u9762\u516b\u65b9\u8a08\u7b97\u3002\u76f8\u8f03\u4e4b\u4e0b\uff0cA*\u53ef\u8996\u70baDijkstra\u7684\u6539\u826f\u7248\u672c\u3002\u9664\u4e86\u8003\u616e\u5f9e\u8d77\u9ede\u8d70\u5230\u76ee\u524d\u4f4d\u7f6e\u6240\u7d2f\u7a4d\u7684\u6210\u672c\u4e4b\u5916\uff0c\u9084\u6703\u4f30\u8a08\u76ee\u524d\u4f4d\u7f6e\u8ddd\u96e2\u7d42\u9ede\u9084\u6709\u591a\u9060\uff0c\u4e5f\u5c31\u662f\u9810\u4f30\u8d70\u5269\u9918\u8def\u5f91\u7684\u6210\u672c\uff0c\u512a\u5148\u641c\u5c0b\u90a3\u4e9b\u6700\u6709\u5e0c\u671b\u63a5\u8fd1\u7d42\u9ede\u7684\u8def\u5f91\uff0c\u56e0\u6b64\u901a\u5e38\u80fd\u4ee5\u66f4\u5c11\u7684\u641c\u5c0b\u6b65\u9a5f\u627e\u5230\u76f8\u540c\u7684\u6700\u4f73\u89e3\uff0c\u641c\u5c0b\u6548\u7387\u8f03\u9ad8\uff0c\u5982\u57163(b) \u6240\u793a\u3002A*\u6f14\u7b97\u6cd5\u4e5f\u5ee3\u6cdb\u61c9\u7528\u65bc\u904a\u6232\u4e2d\uff0c\u7528\u4ee5\u641c\u5c0b\u602a\u7269\u6216\u884c\u9032\u4e2d\u53ef\u81ea\u52d5\u7e5e\u904e\u8def\u969c\u3002<\/p>\n

\"\"
\u57163\uff1a(a)\u6cdb\u6d2a\u586b\u5145\u6f14\u7b97\u6cd5\u793a\u610f\u5716\u3002\u5176\u4e2d\u6578\u5b57\u5c31\u50cf\u6d2a\u6c34\u822c\u5206\u5225\u671d\u5411\u4e0d\u540c\u5c94\u8def\u6392\u5217\uff0c\u6700\u7d42\u53ea\u8981\u4f9d\u7167\u6578\u5217\u7684\u9806\u5e8f\u5373\u53ef\u627e\u5230\u6700\u4f73\u8def\u5f91\uff08\u5be6\u7dda\uff09\u3002\u865b\u7dda\u96d6\u7136\u4e5f\u53ef\u4ee5\u62b5\u9054\u7d42\u9ede\uff0c\u4f46\u8def\u5f91\u6574\u9ad4\u9577\u5ea6\u8f03\u9577\u3002(b) A*\u6f14\u7b97\u6cd5\u793a\u610f\u5716\u3002\u5176\u4e2d\u6578\u5b57\u70ba\u79fb\u52d5\u5230\u6b64\u683c\u7684\u6210\u672c\u8207\u5269\u9918\u6210\u672c\u76f8\u52a0\uff5c\u4f86\u6e90\uff1a\u4f5c\u8005\u7e6a\u88fd<\/figcaption><\/figure>\n

 <\/p>\n

\u6700\u77ed\u8207\u6700\u5feb\u8def\u5f91\u4e4b\u722d<\/strong><\/span><\/h6>\n

\u5728\u8a08\u7b97\u5f97\u5206\u65b9\u9762\uff0c\u9664\u4e86\u6bd4\u8f03\u8ab0\u53ef\u4ee5\u6700\u5feb\u62b5\u9054\u7d42\u9ede\u5916\uff0c\u8ff7\u5bae\u63a2\u7d22\u6642\u9593\u4e5f\u6703\u8a08\u7b97\u5728\u5167\u3002\u5018\u82e5\u884c\u9032\u9593\u767c\u751f\u78b0\u649e\uff0c\u9700\u8981\u4eba\u70ba\u79fb\u56de\u6b63\u78ba\u8def\u5f91\u6642\uff0c\u5247\u6703\u8996\u4e0d\u540c\u7a0b\u5ea6\u758a\u52a0\u4e0a\u6642\u9593\uff0c\u6700\u7d42\u4ee5\u4f7f\u7528\u6700\u77ed\u6642\u9593\u7684\u968a\u4f0d\u7372\u52dd\u3002\u4e0d\u540c\u7684\u8cfd\u4e8b\u898f\u5247\u53ef\u80fd\u6703\u4e0d\u4e00\u6a23\uff0c\u6709\u4e9b\u9084\u6703\u8981\u6c42\u96fb\u8166\u9f20\u81ea\u884c\u8fd4\u56de\u8d77\u9ede\uff0c\u6216\u53ea\u770b\u5f9e\u8ff7\u5bae\u8d77\u9ede\u5230\u7d42\u9ede\u7684\u904b\u52d5\u6642\u9593\u3002\u56e0\u70ba\u770b\u7684\u662f\u6642\u9593\uff0c\u5247\u6709\u53ef\u80fd\u8b93\u6700\u77ed\u8def\u5f91\u8207\u6700\u77ed\u6642\u9593\u8def\u5f91\u4e0d\u91cd\u5408\u3002\u56e0\u70ba\u8d70\u76f4\u7dda\u7684\u901f\u5ea6\u6703\u6bd4\u8f49\u5f4e\u4f86\u5f97\u5feb\uff0c\u8f49\u5f4e\u4e5f\u9700\u8981\u505a\u9069\u5ea6\u7684\u904b\u52d5\u63a7\u5236\u624d\u4e0d\u81f3\u65bc\u7ffb\u8eca\uff0c\u56e0\u6b64\u8f49\u5f4e\u7684\u6b21\u6578\u8d8a\u5c11\u5247\u8d8a\u6709\u5229\u3002\u6b64\u5916\uff0c\u8f49\u5f4e\u7684\u65b9\u5f0f\u8207\u89d2\u5ea6\u4e5f\u5f88\u91cd\u8981\uff0c\u4f8b\u5982\u539f\u672c\u9700\u8981\u8f49\u5169\u500b90\u5ea6\u7684\u8def\u5f91\uff0c\u53ef\u4ee5\u6539\u4ee5\u659c\u5411\u8def\u5f91\u901a\u904e\uff0c\u9019\u7a2e\u65b9\u6cd5\u6642\u5e38\u53ef\u4ee5\u5c07\u9023\u7e8c\u5f4e\u9053\u8b8a\u6210\u76f4\u7dda\u524d\u9032\uff0c\u4ee5\u722d\u53d6\u66f4\u77ed\u6642\u9593\uff0c\u5982\u57164(a)(b) \u6240\u793a\u3002\u8f49\u5f4e\u89d2\u5ea6\u8207\u6b21\u6578\uff0c\u4ee5\u53ca\u52a0\u901f\u6642\u9593\u7b49\u53c3\u6578\u6240\u4ed8\u51fa\u7684\u6210\u672c\uff0c\u90fd\u53ef\u4ee5\u4f5c\u70ba\u5224\u65b7\u6700\u4f73\u8def\u5f91\u7684\u4f9d\u64da\u3002\u5728\u904b\u52d5\u63a7\u5236\u65b9\u9762\uff0c\u56e0\u70ba\u96fb\u8166\u9f20\u7684\u901f\u5ea6\u90fd\u5f88\u5feb\uff0c\u9019\u53cd\u800c\u5bb9\u6613\u8b93\u96fb\u8166\u9f20\u884c\u9032\u9593\u5fae\u5fae\u98c4\u8d77\uff0c\u4f7f\u8f2a\u5b50\u7684\u6293\u5730\u529b\u8b8a\u5dee\u3002\u9019\u90e8\u5206\u53ef\u4ee5\u4f9d\u9760\u4fee\u6539\u96fb\u8166\u9f20\u7684\u7d50\u69cb\u3001\u914d\u91cd\uff0c\u6291\u6216\u88fd\u9020\u5438\u529b\uff0c\u4f7f\u8f2a\u5b50\u8ddf\u5730\u9762\u8cbc\u5f97\u66f4\u7dca\uff0c\u4ee5\u6e1b\u5c11\u904b\u52d5\u6642\u7684\u6f02\u79fb\u3002<\/p>\n

\"\"
\u57164\uff1a(a)\u9078\u64c7\u659c\u5411\u7684\u884c\u8d70\u8def\u5f91\uff0c\u6548\u7387\u8f03\u9ad8\u3002(b)\u9023\u7e8c\u5f4e\u9053\u63a1\u7528\u76f4\u884c\u65b9\u5f0f\u80fd\u5feb\u901a\u904e\u5f4e\u9053\uff5c\u4f86\u6e90\uff1a\u4f5c\u8005\u7e6a\u88fd<\/figcaption><\/figure>\n

\u96fb\u8166\u9f20\u5f9e\u8fa8\u8b58\u5468\u906d\u74b0\u5883\u3001\u5efa\u7acb\u5730\u5716\uff0c\u5230\u8a08\u7b97\u6700\u4f73\u8def\u5f91\u8207\u9ad8\u901f\u904b\u52d5\u63a7\u5236\uff0c\u6bcf\u4e00\u500b\u74b0\u7bc0\u90fd\u8003\u9a57\u8457\u53c3\u8cfd\u8005\u5c0d\u7cfb\u7d71\u6574\u5408\u80fd\u529b\u7684\u7406\u89e3\u3002\u5176\u4e2d\u6240\u4f7f\u7528\u7684\u8a31\u591a\u6280\u8853\u4e26\u4e0d\u53ea\u5b58\u5728\u65bc\u7af6\u8cfd\u4e4b\u4e2d\uff0c\u4eca\u65e5\u7684\u81ea\u99d5\u8eca\u3001\u5009\u5132\u642c\u904b\u6a5f\u5668\u4eba\u3001\u7121\u4eba\u6a5f\u5c0e\u822a\u7cfb\u7d71\uff0c\u751a\u81f3\u5de5\u5ee0\u4e2d\u7684\u81ea\u4e3b\u79fb\u52d5\u6a5f\u5668\u4eba\uff0c\u90fd\u9762\u81e8\u8457\u985e\u4f3c\u7684\u5b9a\u4f4d\u3001\u5c0e\u822a\u8207\u8def\u5f91\u898f\u5283\u554f\u984c\u3002\u53ef\u4ee5\u8aaa\uff0c\u9019\u9805\u770b\u4f3c\u7c21\u55ae\u7684\u8ff7\u5bae\u89e3\u8b0e\u554f\u984c\uff0c\u5176\u5be6\u88e1\u9762\u860a\u542b\u8457\u667a\u6167\u6a5f\u5668\u4eba\u6280\u8853\u7684\u7e2e\u5f71\u3002<\/p>\n

 <\/p>\n

\n

\u53c3\u8003\u6587\u737b<\/strong><\/p>\n

    \n
  1. S. Mishra and P. Bande, \u201cMaze Solving Algorithms for Micro Mouse,\u201d 2008 IEEE International Conference on Signal Image Technology and Internet Based Systems<\/em>, Bali, Indonesia, pp. 86-\u201393, 2008.<\/li>\n
  2. M. Nadour and L. Cherroun, \u201cUsing Flood-fill Algorithms for an Autonomous Mobile Robot Maze Navigation,\u201d International Journal of System Assurance Engineering and Management<\/em>, vol. 13, 546\u2013555, 2022.<\/li>\n
  3. A. Narendran, A. Hothri, H. Saga, and A. Sahay, \u201cMazeSolver: Exploring Algorithmic Solutions for Maze Navigation,\u201d 2024 15th International Conference on Computing Communication and Networking Technologies<\/em>, Kamand, India, pp. 1\u20138, 2024.<\/li>\n
  4. X. Liu and D. Gong, \u201cA Cstudy of A-star Algorithms for Search and Rescue in Perfect Maze,\u201d 2011 International Conference on Electric Information and Control Engineering<\/em>, Wuhan, 2011, pp. 24\u201327, 2011.<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"

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