!!!CHECK RAW FOR PROPER VIEW!!!

variables: NODE: x position, y position, status = {clear, target, obstacle} GRID: height, width, blacklist of obstacles ZUMO: speed, duration of move, sensor detection

pseudocode: FOR ALL nodes in grid: setup node with x,y, and status

WHILE (target not found): IF(move not decided): check current node IF(current node == target): STOP ELSE: FOR ALL neighbor nodes: check straight path for obstacles compute heuristic for clearest and shortest path head towards node with smallest heuristic move = decided check if obstacle has not appeared IF(new obstacle): move = not decided head back equal direction and head towards node with next smallest heuristic add node to blacklist ELSE: complete move to node