算法基于双向式搜索原理，采用投影法、夹角最小的方法及二叉树理论。

The algorithm takes advantage of the theories of bidirectional search, projection, minimum Angle and binary tree.

youdao

算法基于双向式搜索原理，采用投影法、夹角最小的方法及二叉树理论。

The algorithm takes advantage of the theories of bidirectional search, projection, minimum Angle and binary tree.

youdao