MdeModulePkg/UdfDxe: Use error handling for memory allocation failure

MdeModulePkg/UdfDxe: Use error handling for memory allocation failure

REF:https://bugzilla.tianocore.org/show_bug.cgi?id=1247

For functions DuplicateFid() and DuplicateFe(), this commit will use error
handling logic instead of ASSERTs for memory allocation failure.

Cc: Ruiyu Ni <ruiyu.ni@intel.com>
Contributed-under: TianoCore Contribution Agreement 1.1
Signed-off-by: Hao Wu <hao.a.wu@intel.com>
Reviewed-by: Paulo Alcantara <palcantara@suse.de>
Reviewed-by: Star Zeng <star.zeng@intel.com>