bfs.py

@@ -14,8 +14,9 @@ def bfs(istate, goalx, goaly):
                 return steps
         
         element = successors(state)
-        explored.append(state)
+        explored.append((state.xpos, state.ypos, state.orientation))
         for value in element :
-            if value not in explored and value not in fringe:
+            val = (value.xpos, value.ypos, value.orientation)
+            if val not in explored:
                 fringe.append(value)
     return False

main.py

@@ -68,7 +68,7 @@ def main():
                 run = False
         #keys_pressed = pygame.key.get_pressed()
         draw_window(agent, fields)
-        steps = bfs(State(None, None, 0, 0, 'E'), 250, 100)
+        steps = bfs(State(None, None, 0, 0, 'E'), 250, 700)
         for interm in steps:
             if interm.action == 'LEFT':
                 agent.direction = (agent.direction - 1) % 4