http://theory.stanford.edu/~amitp/GameProgramming/
http://blog.sina.com.cn/s/blog_5aa5f7790100bbxm.html
http://www.gamedev.net/page/resources/_/technical/artificial-intelligence/a-pathfinding-for-beginners-r2003
http://blog.csdn.net/crayondeng/article/details/12342989