RRT*的路径规划算法核心部分，场景为二维平面内。(Road stiffness planning algorithm for 2D and 3D scenes)

基于二值图的路径规划，rrt算法。 双向优化，通过起点与终点双点发展扩展树，优化处理速度。(Path planning based on binary graph, RRT algorithm. Two way optimization, through the start and end point of the expansion tree development, optimize the processing speed.)