中文说明：基于栅格地图的，针对u型障碍物和V型障碍物改进的夭设算法，内容比较多由于每个论文或实验都有自己局限性，请各位一定根据自己需求进行改进。
English Description：
Based on the grid map, for U-shaped obstacles and V-shaped obstacles to improve the premature algorithm, the content is more, because each paper or experiment has its own limitations, please improve according to your own needs.