diff --git a/EscapeBot.java b/EscapeBot.java
index cd368da..a1b4cb0 100644
--- a/EscapeBot.java
+++ b/EscapeBot.java
@@ -1,100 +1,171 @@
 package bot;
 
-import java.util.Scanner;
+import java.util.*;
 
 public class EscapeBot extends Bot {
-    private int currentX = 0;
-    private int currentY = 0;
-    private int spiralSize = 1;
-    private int stepsInCurrentDirection = 0;
-    private char currentDirection = 'd'; // Start with moving to the right
+    private boolean rocketFound;
+    private int roverX;
+    private int roverY;
 
     public EscapeBot(String[] args) {
         super(args);
+        this.rocketFound = false;
+        this.roverX = -1; // Startposition des Rovers ist unbekannt
+        this.roverY = -1;
+    }
+
+    @Override
+    protected char nextMove(View view) throws Exception {
+        if (rocketFound) {
+            System.out.println("Rakete gefunden! Rover kehrt zurück.");
+            return 'V'; // Rückwärts bewegen
+        }
+
+        if (roverX == -1 || roverY == -1) {
+            for (int y = 0; y < view.width; y++) {
+                for (int x = 0; x < view.width; x++) {
+                    char cell = view.data.charAt(y * view.width + x);
+                    if (cell == 'A') {
+                        roverX = x;
+                        roverY = y;
+                    }
+                }
+            }
+        }
+
+        char[][] grid = new char[view.width][view.width];
+        for (int y = 0; y < view.width; y++) {
+            for (int x = 0; x < view.width; x++) {
+                grid[y][x] = view.data.charAt(y * view.width + x);
+            }
+        }
+
+        List<Node> path = aStarSearch(grid, roverX, roverY);
+
+        if (path != null && !path.isEmpty()) {
+            Node nextNode = path.get(0);
+            if (nextNode.x > roverX) {
+                roverX++;
+                return 'd'; // Nach rechts bewegen
+            } else if (nextNode.x < roverX) {
+                roverX--;
+                return 'a'; // Nach links bewegen
+            } else if (nextNode.y > roverY) {
+                roverY++;
+                return '^'; // Vorwärts bewegen
+            } else if (nextNode.y < roverY) {
+                roverY--;
+                return 'V'; // Rückwärts bewegen
+            }
+        }
+
+        return '^'; // Standardbewegung, wenn keine Richtung gefunden wurde
+    }
+
+    private List<Node> aStarSearch(char[][] grid, int startX, int startY) {
+        PriorityQueue<Node> openList = new PriorityQueue<>(Comparator.comparingInt(a -> a.f));
+        Set<Node> closedSet = new HashSet<>();
+        Map<Node, Node> cameFrom = new HashMap<>();
+        Map<Node, Integer> gScore = new HashMap<>();
+        Map<Node, Integer> fScore = new HashMap<>();
+
+        Node startNode = new Node(startX, startY);
+        openList.add(startNode);
+        gScore.put(startNode, 0);
+        fScore.put(startNode, heuristic(startNode));
+
+        while (!openList.isEmpty()) {
+            Node current = openList.poll();
+
+            if (grid[current.y][current.x] == 'o') {
+                return reconstructPath(cameFrom, current);
+            }
+
+            closedSet.add(current);
+
+            for (Node neighbor : getNeighbors(current, grid)) {
+                if (closedSet.contains(neighbor)) {
+                    continue;
+                }
+
+                int tentativeGScore = gScore.getOrDefault(current, Integer.MAX_VALUE) + 1;
+
+                if (!openList.contains(neighbor) || tentativeGScore < gScore.getOrDefault(neighbor, Integer.MAX_VALUE)) {
+                    cameFrom.put(neighbor, current);
+                    gScore.put(neighbor, tentativeGScore);
+                    fScore.put(neighbor, tentativeGScore + heuristic(neighbor));
+
+                    if (!openList.contains(neighbor)) {
+                        openList.add(neighbor);
+                    }
+                }
+            }
+        }
+
+        return null; // Kein Weg gefunden
+    }
+
+    private List<Node> getNeighbors(Node node, char[][] grid) {
+        List<Node> neighbors = new ArrayList<>();
+
+        int[][] directions = {{0, 1}, {0, -1}, {1, 0}, {-1, 0}}; // Rechts, Links, Unten, Oben
+
+        for (int[] dir : directions) {
+            int newX = node.x + dir[0];
+            int newY = node.y + dir[1];
+
+            if (newX >= 0 && newX < grid.length && newY >= 0 && newY < grid.length &&
+                    grid[newY][newX] != '#') {
+                neighbors.add(new Node(newX, newY));
+            }
+        }
+
+        return neighbors;
+    }
+
+    private List<Node> reconstructPath(Map<Node, Node> cameFrom, Node current) {
+        List<Node> path = new ArrayList<>();
+        path.add(current);
+        while (cameFrom.containsKey(current)) {
+            current = cameFrom.get(current);
+            path.add(current);
+        }
+        Collections.reverse(path);
+        return path;
+    }
+
+    private int heuristic(Node node) {
+        // Verwenden Sie die Manhattan-Distanz als Heuristik, um die tatsächliche Entfernung zum Ziel zu schätzen
+        return Math.abs(node.x - roverX) + Math.abs(node.y - roverY);
+    }
+
+    private static class Node {
+        int x;
+        int y;
+        int f;
+
+        Node(int x, int y) {
+            this.x = x;
+            this.y = y;
+            this.f = 0;
+        }
+
+        @Override
+        public boolean equals(Object o) {
+            if (this == o) return true;
+            if (o == null || getClass() != o.getClass()) return false;
+            Node node = (Node) o;
+            return x == node.x && y == node.y;
+        }
+
+        @Override
+        public int hashCode() {
+            return Objects.hash(x, y);
+        }
     }
 
     public static void main(String[] args) {
         EscapeBot escapeBot = new EscapeBot(args);
         escapeBot.run();
     }
-
-    @Override
-    protected char nextMove(View view) throws Exception {
-        char[][] map = parseMap(view.data, view.width);
-
-        char nextMove = 'w'; // Default move is to go forward
-
-        if (map[currentY][currentX] == 'o') {
-            System.out.println("Rakete gefunden!");
-            nextMove = 'q'; // Beende die Verbindung, wenn die Rakete gefunden wurde
-        } else {
-            // Bewegungslogik im Spiralmuster
-            switch (currentDirection) {
-                case 'd': // Bewege nach rechts
-                    currentX++;
-                    break;
-                case 's': // Bewege nach unten
-                    currentY++;
-                    break;
-                case 'a': // Bewege nach links
-                    currentX--;
-                    break;
-                case 'w': // Bewege nach oben
-                    currentY--;
-                    break;
-            }
-            stepsInCurrentDirection++;
-
-            // Wenn der Rover die maximale Anzahl von Schritten in dieser Richtung erreicht hat
-            if (stepsInCurrentDirection == spiralSize) {
-                // Ändere die Richtung nach rechts
-                switch (currentDirection) {
-                    case 'd':
-                        currentDirection = 's';
-                        break;
-                    case 's':
-                        currentDirection = 'a';
-                        break;
-                    case 'a':
-                        currentDirection = 'w';
-                        break;
-                    case 'w':
-                        currentDirection = 'd';
-                        break;
-                }
-
-                // Setze die Anzahl der Schritte in dieser Richtung zurück und erhöhe die Spiralgöße
-                stepsInCurrentDirection = 0;
-                if (currentDirection == 'd' || currentDirection == 'a') {
-                    spiralSize++;
-                }
-            }
-
-            // Überprüfe, ob der nächste Zug innerhalb der Karte liegt
-            if (currentX < 0 || currentX >= view.width || currentY < 0 || currentY >= view.width) {
-                // Der nächste Zug liegt außerhalb der Karte, also drehe den Rover um
-                nextMove = 'a';
-            } else {
-                // Der nächste Zug liegt innerhalb der Karte, bewege den Rover dorthin
-                nextMove = currentDirection;
-            }
-        }
-
-        return nextMove;
-    }
-
-    // Hilfsmethode zum Parsen des Kartenscans in ein char-Array
-    private char[][] parseMap(String data, int width) {
-        char[][] map = new char[width][width];
-        String[] lines = data.split("\n");
-        for (int i = 0; i < width; i++) {
-            String line = lines[i];
-            for (int j = 0; j < width; j++) {
-                map[i][j] = line.charAt(j);
-            }
-        }
-        return map;
-    }
 }
-
-