双向A*。
A* : A*（A star）
从起点和终点同时开始A*搜索，直至交汇。
从起点端：代价值Fs=起点到当前点的距离Gs+当前点到终点的启发式代价值Hs
从终点端：代价值Fe=终点到当前点的距离Ge+当前点到起点的启发式代价值He
最终整个路径的代价值=Gs+Ge
图示
特点
比A*更快
其他路径规划算法： 路径规划算法总览
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