AI Greedy & A* Informed Search Strategies by Example
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AI Greedy BFS & A* Search Strategies by Example MENOUFIA UNIVERSITY FACULTY OF COMPUTERS AND INFORMATION ALL DEPARTMENTS ARTIFICIAL INTELLIGENCE معة المنوفية جامعلوماتت واللحاسبا كلية اقسام جميع الذكاء اصطناعي امعة المنوفية جاAhmed Fawzy Gad [email protected]
Transcript of AI Greedy & A* Informed Search Strategies by Example
AI Greedy BFS & A* Search Strategies by Example
MENOUFIA UNIVERSITYFACULTY OF COMPUTERS AND INFORMATION
ALL DEPARTMENTSARTIFICIAL INTELLIGENCE
جامعة المنوفية
كلية الحاسبات والمعلومات
جميع األقسام
اإلصطناعيالذكاء
جامعة المنوفية
Ahmed Fawzy Gad
Greedy Best-First Search
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---𝑨𝟒𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎
𝑨𝟒𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎
𝑨𝟒𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
Current Children
𝑪𝟏𝟓𝟎
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎
𝑨𝟒𝟎𝟎
Current Children
𝑪𝟏𝟓𝟎
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎𝑷𝟏𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎
𝑷𝟏𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎 𝑹𝟓𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎 𝑹𝟓𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎
𝑹𝟓𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎 𝑹𝟓𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎
𝑹𝟓𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎 𝑹𝟓𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎
𝑹𝟓𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎𝑹𝟓𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎 𝑹𝟓𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎
𝑹𝟓𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎𝑹𝟓𝟎
𝑸𝟏𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎 𝑹𝟓𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎
𝑹𝟓𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎𝑹𝟓𝟎
𝑸𝟏𝟎𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎 𝑹𝟓𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎
𝑹𝟓𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎𝑹𝟓𝟎
𝑸𝟏𝟎𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎𝑸𝟏𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎 𝑹𝟓𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎
𝑹𝟓𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎𝑹𝟓𝟎
𝑸𝟏𝟎𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑸𝟏𝟎𝟎
𝑸𝟏𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
𝑨𝟒𝟎𝟎 ---
𝑨𝟒𝟎𝟎 𝑪𝟏𝟓𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑪𝟏𝟓𝟎 𝑷𝟏𝟎𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑨𝟒𝟎𝟎
𝑪𝟏𝟓𝟎
𝑷𝟏𝟎𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎 𝑹𝟓𝟎,𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑷𝟏𝟎𝟎
𝑹𝟓𝟎 𝑸𝟏𝟎𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎𝑹𝟓𝟎
𝑸𝟏𝟎𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎
𝑸𝟏𝟎𝟎 𝑺𝟓𝟎,𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑸𝟏𝟎𝟎
Current Children
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎𝑺𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑺𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎𝑵𝟏𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎𝑵𝟏𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎𝑵𝟏𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎𝑵𝟏𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎𝑩𝟐𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎𝑩𝟐𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎𝑩𝟐𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎𝑭𝟐𝟎𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎
𝑭𝟐𝟎𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎 𝑱𝟏𝟓𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎 𝑱𝟏𝟓𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎
𝑱𝟏𝟓𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎 𝑱𝟏𝟓𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎
𝑱𝟏𝟓𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎 𝑱𝟏𝟓𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎
𝑱𝟏𝟓𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎𝑱𝟏𝟓𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎 𝑱𝟏𝟓𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎
𝑱𝟏𝟓𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑱𝟏𝟓𝟎
𝑱𝟏𝟓𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎 𝑱𝟏𝟓𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎
𝑱𝟏𝟓𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑱𝟏𝟓𝟎 𝒁𝟎,𝑴𝟏𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑱𝟏𝟓𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎 𝑱𝟏𝟓𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎
𝑱𝟏𝟓𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑱𝟏𝟓𝟎 𝒁𝟎,𝑴𝟏𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑱𝟏𝟓𝟎
𝒁𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎 𝑱𝟏𝟓𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎
𝑱𝟏𝟓𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑱𝟏𝟓𝟎 𝒁𝟎,𝑴𝟏𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑱𝟏𝟓𝟎
𝒁𝟎 𝑴𝟏𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Greedy Best-First SearchGoal – Node K
Current Children
𝑺𝟓𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎 𝑵𝟏𝟎, 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑺𝟓𝟎
𝑵𝟏𝟎 𝑩𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎 𝑭𝟐𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑵𝟏𝟎
𝑭𝟐𝟎𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎 𝑱𝟏𝟓𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑭𝟐𝟎𝟎
𝑱𝟏𝟓𝟎 𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑱𝟏𝟓𝟎 𝒁𝟎,𝑴𝟏𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑱𝟏𝟓𝟎
𝒁𝟎 𝑴𝟏𝟎𝟎,𝑬𝟐𝟓𝟎,𝑫𝟑𝟎𝟎, 𝑮𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
𝑩𝟐𝟓𝟎
𝒁𝟎
𝑩𝟐𝟓𝟎 𝑫𝟑𝟎𝟎, 𝑻𝟑𝟓𝟎
Goal Path
A* Search
A
AA
A Children
B
AA
A Children
B
C
AA
A Children
B
C
D
AA
A Children
B
C
D
AA
A Children
Calculate Total Cost
B
C
D
AA
A Children
Calculate Total Cost
Order Asc.
B
C
D
AA
A Children
Calculate Total Cost
Order Asc.
Select Min. Cost
B
C
D
B
A Children
Heuristic
B
C
D
B
A Children
Heuristic Cost
B
C
D
B
+
A Children
Heuristic Cost Total
B
C
D
B
+
A Children
=
Heuristic Cost
250
Total
B
C
D
B
+
A Children
=
Heuristic Cost
250 150
Total
+
B
C
D
B
+ =
A Children
Heuristic Cost
250 150
Total
400+ =
B
C
D
B
+ =
A Children
Heuristic Cost
250 150
Total
400+ =
B
C
D
B
+ =
A Children
400
Heuristic Cost Total
B
C
D
C
+ =
A Children
400
Heuristic Cost
150
Total
B
C
D
C
+ =
A Children
400
Heuristic Cost
150 100
Total
+
B
C
D
C
+ =
A Children
400
Heuristic Cost
150 100
Total
250+ =
B
C
D
C
+ =
A Children
400
Heuristic Cost
150 100
Total
250+ =
B
C
D
C
+ =
A Children
400
Heuristic Cost
150 100
Total
250+ =
B
C
D
C
+ =
A Children
400
250
Heuristic Cost Total
B
C
D
D
+ =
A Children
400
250
Heuristic Cost
300
Total
B
C
D
D
+ =
A Children
400
250
Heuristic Cost
300 50
Total
+
B
C
D
D
+ =
A Children
400
250
Heuristic Cost
300 50
Total
350+ =
B
C
D
D
+ =
A Children
400
250
Heuristic Cost
300 50
Total
350+ =
B
C
D
D
+ =
A Children
400
250
Heuristic Cost
300 50
Total
350+ =
B
C
D
D
+ =
A Children
400
250
350
Current Queue
C
250
D
350
B
400
C
250
C
CC
C Children
P
CC
C Children
P
Q
CC
C Children
P
Q
CC
C Children
Calculate Total Cost
P
Q
CC
C Children
Calculate Total Cost
Order Asc.
P
Q
CC
C Children
Calculate Total Cost
Order Asc.
Select Min. Cost
P
C Children
P
Q
Heuristic
P
C Children
P
Q
Heuristic Cost
P
+
C Children
P
Q
Heuristic Cost Total
P
+
C Children
P
Q
=
Heuristic Cost
100
Total
P
+
C Children
P
Q
=
Heuristic Cost
100 105
Total
+
P
+ =
C Children
P
Q
Heuristic Cost
100 105
Total
205+ =
P
+ =
C Children
P
Q
Heuristic Cost
100 105
Total
205+ =
P
+ =
C Children
205P
Q
Heuristic Cost Total
Q
+ =
C Children
205P
Q
Heuristic Cost
100
Total
Q
+ =
C Children
205P
Q
Heuristic Cost
100 115
Total
+
Q
+ =
C Children
205P
Q
Heuristic Cost
100 115
Total
215+ =
Q
+ =
C Children
205P
Q
Heuristic Cost
100 115
Total
215+ =
Q
+ =
C Children
205
215
P
Q
Current Queue
D
350
B
400
P
205
Q
215
Current Queue
D
350
B
400
P
205
Q
215
P
205
P
PP
P Children
R
PP
P Children
R
PP
P Children
Calculate Total Cost
R
PP
P Children
Calculate Total Cost
Order Asc.
R
PP
P Children
Calculate Total Cost
Order Asc.
Select Min. Cost
R
PChildren
R
Heuristic
R
PChildren
R
Heuristic Cost
R
+
PChildren
R
Heuristic Cost Total
R
+
PChildren
R
=
Heuristic Cost
50
Total
R
+
PChildren
R
=
Heuristic Cost
50 405
Total
+
R
+ =
PChildren
R
Heuristic Cost
50 405
Total
455+ =
R
+ =
PChildren
R
Heuristic Cost
50 405
Total
455+ =
R
+ =
PChildren
455R
Current Queue
D
350
Q
215
B
400
R
455
Current Queue
D
350
Q
215
B
400
R
455
Q
215
Q
Q Children
S
Q Children
S
T
Q Children
S
T
Q Children
Calculate Total Cost
S
T
Q Children
Calculate Total Cost
Order Asc.
S
T
Q Children
Calculate Total Cost
Order Asc.
Select Min. Cost
Heuristic Cost Total
S
+ =
Q Children
S
T
Heuristic Cost
50
Total
S
+ =
Q Children
S
T
Heuristic Cost
50 150
Total
+
S
+ =
Q Children
S
T
Heuristic Cost
50 150
Total
200+ =
S
+ =
Q Children
S
T
Heuristic Cost
50 150
Total
200+ =
S
+ =
200
Q Children
S
T
Heuristic Cost Total
T
+ =
200
Q Children
S
T
Heuristic Cost
350
Total
T
+ =
200
Q Children
S
T
Heuristic Cost
350 120
Total
+
T
+ =
200
Q Children
S
T
Heuristic Cost
350 120
Total
470+ =
T
+ =
200
Q Children
S
T
Heuristic Cost
350 120
Total
470+ =
T
+ =
200
470
Q Children
S
T
Current Queue
D
350
S
200
T
470
B
400
R
455
Current Queue
D
350
S
200
T
470
B
400
R
455
S
200
S
SS
SChildren
N
SS
SChildren
N
SS
SChildren
Calculate Total Cost
N
SS
SChildren
Calculate Total Cost
Order Asc.
N
SS
SChildren
Calculate Total Cost
Order Asc.
Select Min. Cost
Heuristic Cost Total
N
+ =
SChildren
N
Heuristic Cost
10
Total
N
+ =
SChildren
N
Heuristic Cost
10 155
Total
+
N
+ =
SChildren
N
Heuristic Cost
10 155
Total
165+ =
N
+ =
SChildren
N
Heuristic Cost
10 155
Total
165+ =
N
+ =
SChildren
165N
Current Queue
D
350
N
165
T
470
B
400
R
455
Current Queue
D
350
N
165
T
470
B
400
R
455
N
165
N
NN
Current Queue
D
350
T
470
B
400
R
455
Current Queue
D
350
T
470
B
400
R
455
D
350
D
DD
D Children
V
DD
D Children
V
W
DD
D Children
V
W
DD
D Children
Calculate Total Cost
V
W
DD
D Children
Calculate Total Cost
Order Asc.
V
W
DD
D Children
Calculate Total Cost
Order Asc.
Select Min. Cost
Heuristic Cost Total
V
+ =
D Children
V
W
Heuristic Cost
200
Total
V
+ =
D Children
V
W
Heuristic Cost
200 100
Total
+
V
+ =
D Children
V
W
Heuristic Cost
200 100
Total
300+ =
V
+ =
D Children
V
W
Heuristic Cost
200 100
Total
300+ =
V
+ =
300
D Children
V
W
Heuristic Cost Total
W
+ =
300
D Children
V
W
Heuristic Cost
150
Total
W
+ =
300
D Children
V
W
Heuristic Cost
150 60
Total
+
W
+ =
300
D Children
V
W
Heuristic Cost
150 60
Total
210+ =
W
+ =
300
D Children
V
W
Heuristic Cost
150 60
Total
210+ =
W
+ =
300
210
D Children
V
W
Current Queue
V
300
T
470
W
210
B
400
R
455
Current Queue
V
300
T
470
W
210
B
400
R
455
W
WW
WChildren
Y
WW
WChildren
Y
WW
WChildren
Calculate Total Cost
Y
WW
WChildren
Calculate Total Cost
Order Asc.
Y
WW
WChildren
Calculate Total Cost
Order Asc.
Select Min. Cost
Heuristic Cost Total
Y
+ =
WChildren
Y
Heuristic Cost
50
Total
Y
+ =
WChildren
Y
Heuristic Cost
50 360
Total
+
Y
+ =
WChildren
Y
Heuristic Cost
50 360
Total
410+ =
Y
+ =
WChildren
Y
Heuristic Cost
50 360
Total
410+ =
Y
+ =
WChildren
410Y
Current Queue
V
300
T
470
Y
410
B
400
R
455
Current Queue
V
300
T
470
Y
410
B
400
R
455
V
VV
VChildren
X
VV
VChildren
X
VV
VChildren
Calculate Total Cost
X
VV
VChildren
Calculate Total Cost
Order Asc.
X
VV
VChildren
Calculate Total Cost
Order Asc.
Select Min. Cost
Heuristic Cost Total
X
+ =
VChildren
X
Heuristic Cost
100
Total
X
+ =
VChildren
X
Heuristic Cost
100 110
Total
+
X
+ =
VChildren
X
Heuristic Cost
100 110
Total
210+ =
X
+ =
VChildren
X
Heuristic Cost
100 110
Total
210+ =
X
+ =
VChildren
210X
Current Queue
X
210
T
470
Y
410
B
400
R
455
Current Queue
X
210
T
470
Y
410
B
400
R
455
X
XX
XChildren
Z
XX
XChildren
Z
XX
XChildren
Calculate Total Cost
Z
XX
XChildren
Calculate Total Cost
Order Asc.
Z
XX
XChildren
Calculate Total Cost
Order Asc.
Select Min. Cost
Heuristic Cost Total
Z
+ =
XChildren
Z
Heuristic Cost
0
Total
Z
+ =
XChildren
Z
Heuristic Cost
0 125
Total
+
Z
+ =
XChildren
Z
Heuristic Cost
0 125
Total
125+ =
Z
+ =
XChildren
Z
Heuristic Cost
0 125
Total
125+ =
Z
+ =
XChildren
125Z
Current Queue
Z
125
B
400
R
455
T
470
Y
410
Current Queue
Z
125
B
400
R
455
T
470
Y
410
Z
ZZ
ZZ
GOAL
Goal Path
