“…This is used at the end to trace the path from the Goal to the Start position, thus calculating the optimum path. The start node has 2 successors (2,1) and (1,2). From the initial calculation (2,1) is chosen and the robot travels along that node, however ones it reaches the dead end, it discards the node (2,1) and takes the second successor (1,2) and explores that route Figure 4.…”