http://theory.stanford.edu/~amitp/GameProgramming/AStarComparison.html
http://theory.stanford.edu/~amitp/GameProgramming/Heuristics.html
http://theory.stanford.edu/~amitp/GameProgramming/AStarComparison.html
http://theory.stanford.edu/~amitp/GameProgramming/Heuristics.html