想在dijkstra算法求最短路径的时候加一个限制条件：每个点最多只能经过三次这样的程序应该怎么写啊

想在dijkstra算法求最短路径的时候加一个限制条件：每个点最多只能经过三次
这样的matlab程序应该怎么写啊，求指点

单元最短路径还能要求每个点只能计算三次？

• 这篇博客也许可以解决你的问题👉 ：Dijkstra算法解决最短路径问题
• 除此之外, 这篇博客: 路径优化算法--Dijkstra和A*算法及其Matlab实现中的 DijkstraGrid.m 部分也许能够解决你的问题, 你可以仔细阅读以下内容或跳转源博客中阅读:
  

• function [route,numExpanded] = DijkstraGrid (input_map, start_coords, dest_coords)
  % Run Dijkstra's algorithm on a grid.
  % Inputs : 
  %   input_map : a logical array where the freespace cells are false or 0 and
  %   the obstacles are true or 1
  %   start_coords and dest_coords : Coordinates of the start and end cell
  %   respectively, the first entry is the row and the second the column.
  % Output :
  %    route : An array containing the linear indices of the cells along the
  %    shortest route from start to dest or an empty array if there is no
  %    route. This is a single dimensional vector
  %    numExpanded: Remember to also return the total number of nodes
  %    expanded during your search. Do not count the goal node as an expanded node.
  
  
  % set up color map for display
  % 1 - white - clear cell
  % 2 - black - obstacle
  % 3 - red = visited
  % 4 - blue  - on list
  % 5 - green - start
  % 6 - yellow - destination
  
  cmap = [1 1 1; ...
          0 0 0; ...
          1 0 0; ...
          0 0 1; ...
          0 1 0; ...
          1 1 0; ...
  	0.5 0.5 0.5];
  
  colormap(cmap);
  
  % variable to control if the map is being visualized on every
  % iteration
  drawMapEveryTime = true;
  
  [nrows, ncols] = size(input_map);
  
  % map - a table that keeps track of the state of each grid cell
  map = zeros(nrows,ncols);
  
  map(~input_map) = 1;   % Mark free cells
  map(input_map)  = 2;   % Mark obstacle cells
  
  % Generate linear indices of start and dest nodes
  start_node = sub2ind(size(map), start_coords(1), start_coords(2));
  dest_node  = sub2ind(size(map), dest_coords(1),  dest_coords(2));
  
  map(start_node) = 5;
  map(dest_node)  = 6;
  
  % Initialize distance array
  distanceFromStart = Inf(nrows,ncols);
  
  % For each grid cell this array holds the index of its parent
  parent = zeros(nrows,ncols);
  
  distanceFromStart(start_node) = 0;
  
  % keep track of number of nodes expanded 
  numExpanded = 0;
  
  % Main Loop
  while true
      
      % Draw current map
      map(start_node) = 5;
      map(dest_node) = 6;
      
      % make drawMapEveryTime = true if you want to see how the 
      % nodes are expanded on the grid. 
      if (drawMapEveryTime)
          image(1.5, 1.5, map);
          grid on;
          axis image;
          drawnow;
      end
      
      % Find the node with the minimum distance
      [min_dist, current] = min(distanceFromStart(:));
      
      if ((current == dest_node) || isinf(min_dist))
          break;
      end;
      
      % Update map
      map(current) = 3;         % mark current node as visited
      numExpanded=numExpanded+1;
      % Compute row, column coordinates of current node
      [i, j] = ind2sub(size(distanceFromStart), current);
      
     % ********************************************************************* 
      % YOUR CODE BETWEEN THESE LINES OF STARS
      
      % Visit each neighbor of the current node and update the map, distances
      % and parent tables appropriately.
      action=[-1 0; 1 0; 0 -1; 0 1];%上，下，左，右
      for a=1:4
          expand=[i,j]+action(a,:);
          expand1=expand(1,1);
          expand2=expand(1,2);
          %不超出边界，不穿越障碍，不在CLOSED列表里，则进行扩展
          if ( expand1>=1 && expand1<=nrows && expand2>=1 && expand2<=ncols && map(expand1,expand2)~=2 && map(expand1,expand2)~=3 && map(expand1,expand2)~=5 )
  %           if ( expand1>=1 && expand1&lt;=nrows && expand2>=1 && expand2&lt;=ncols && map(expand1,expand2)~=2 && map(expand1,expand2)~=3 && map(expand1,expand2)~=5)
              if ( distanceFromStart(expand1,expand2)> distanceFromStart(i,j)+1 )
                  distanceFromStart(expand1,expand2)= distanceFromStart(i,j)+1;
                  parent(expand1,expand2)=current;
                  map(expand1,expand2)=4;
              end
          end
      end
      distanceFromStart(current) = Inf; % remove this node from further consideration
      %*********************************************************************
  
  end
  
  %% Construct route from start to dest by following the parent links
  if (isinf(distanceFromStart(dest_node)))
      route = [];
  else
      route = [dest_node];
      
      while (parent(route(1)) ~= 0)
          route = [parent(route(1)), route];
      end
      
          % Snippet of code used to visualize the map and the path
      for k = 2:length(route) - 1        
          map(route(k)) = 7;
          pause(0.1);
          image(1.5, 1.5, map);
          grid on;
          axis image;
      end
  end
  
  end
  

  注： 运行环境，Matlab 2019a 版本，安装 RTB（Robotic Tool Box） 工具包，链接地址为，RTB安装链接 。该工具包中可以运行作者大佬写到的matlab/simulink四轴历程，只需要使用指令 sl_quadrotor 即可。