这是一个基于A*算法的路径规划程序，利用栅格法构建了房间地图，然后通过A*算法规划出一条从出发点到目标点的最短路径。-This is based on A* algorithm path planning process, build the room use map grid method, and then through the A* algorithm plan a starting point　the shortest path to the target point.