Robot path planning using A* algorithm
扫地机器人自动寻路实现（使用A*算法）
地图实例(Sample map of room)：
*#_*
_*__
_#_@
It shows that in a room with 3 rows and 4 columns where * reprensents dirty cell, # represens obstacles, _ represents for empty cell and @ is the location of the cleaning robot.
该地图表示为在3×4的房间内，星号(*)代表脏东西的格子，井号（#）代表障碍物格子，下划线(_)代表空格子，@代表机器人所在位置。
程序输入实例(The example input for the sample map)
Please Enter Row Number:
4
Please Enter Colomn Number:
4
Please Enter the Elements in row 1:
@#*_
Please Enter the Elements in row 2:
_#_*
Please Enter the Elements in row 3:
_*_#
Please Enter the Elements in row 4:
_#__
输出结果(output):
S
S
E
C
E
N
E
C
N
W
C
53
字母表示机器人走的路径。N表示向上，S表示向下，W表示向左，E表示向右。数字表示算法遍历过的节点数量。
The letters (N, S, W and E) represents the direction of each step the robot walked. The number represens the number of nodes which have been traversed.