说明：  A-star路径规划算法，外国一位大神论坛里的帖子，可以实现A*算法路径规划，采用c++编程,历程中有原作者详细说明，结合A*算法可以更好理解
(A-star path planning algorithm, a big God foreign forum posts, can be achieved A * path planning algorithm, using c ++ programming course in the author described in detail, with A * algorithm can be better understood)