Best First Search

B 10 A 4 4

14

The distances in the picture are the real distances between the nodes. The estimated remaining distances to the goal, G are: From A From B From C 16 4 16 (Irrelevant) From D From E From F 1 2 1 4

A 0+16 2

B 10+4

C 4 4+ 16

C 14+16

3 D 16+2

B 6 8+4

E 5 10+1

E 22+1

F 20+4

D 7 14+2

D 16+2

G 24

E 20+1

F 18+4

G 22

Open A16 B14 C20 D18 C20 E23 F24 E11 B12 F24 B12 F24 G24 D16 F24 G24 F22 G24 G22

Closed

A16 A16 B14 A16 B14 D18 A16 C20 D18 A16 C20 E11 A16 B12 C20 E11 A16 B12 C20 D16 E11 A16 B12 C20 D16 E11F2

The heuristc function, h is not monotone, however. h(C) = 16, h(B) = 4, and cost(C,B) = 4, so h(C) - h(B) > cost(C,B). Therefore we had the first occurence of node D, which was later replaced by a better D. The estimations are optimistic, so we know that the found path is the best. But if we replace the estimated distance from F to G with 8 we get: Open A16 B14 C20 D18 C20 E23 F28 E11 B12 F28 B12 G24 F28 D16 G24 F28 G24 F26 Closed

A16 A16 B14 A16 B14 D18 A16 C20 D18 A16 C20 E11 A16 B12 C20 E11 A16 B12 C20 D16 E11

Now we have G24 as the current state, so we stop the search. We have found a solution according to method A, but it is not the best one. The big estimate of F hid the best solution.