def AStar_robot(self):
"""
Perform a AStar search to find the optimal route based on the
known maze
Note: Changing the weight of g (weight based on steps from start)
in AStar caused the algorithm to get out of a stuck corner case.
Should do something to modify cell.g if the same move is seen
multiple times in a short period. (3 in 5?)
"""
search = AStar(self.maze_dim, self.current_maze,
self.location, self.goal)
# Build the internal AStar grid
search.init_grid()
# Find the optimal route
search.process()
# Return the list of moves necessary to reach the goal
self.move_list = search.display_path(show=False)
print(self.move_list)
#print(self.move_list)
# Return the move
rotation, movement = self.move_direction(self.move_list.pop(0))
return rotation, movement
