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

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。

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

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。

youdao