本程序是基于方向优先权的机器人最优路径寻找算法，也可用于求解迷宫的最短路径,算法中是以100*100的格点为实例的，其中标0的位置为可行的点，标1的为障碍物，参考者可以根据自己的情况修改场地信息矩阵和起始点、目标点中间的算法不用修改

-This procedure is based on the priority direction of the robot to find the optimal path algorithm can also be used to solve the maze of the shortest path algorithm is 100* 100 grid points for the instance, which marked the location of 0 points as possible, standard 1 for the barrier, reference conditions can modify the site according to their own information matrix and the starting point, target points do not modify the middle of the algorithm