var aStarData:AStarData = aStarQueue.shift();

            var startPos:Position = aStarData.tank.pos;
            var endPos:Position = aStarData.endPos;
            //var startTime:int = new Date().getTime();

            var startNode:AStarNode = nodeMatrix[startPos.x][startPos.y];
            startNode.value = 0;
            startNode.isOpen = true;
            startNode.prev = null;
            nodeMatrix[endPos.x][endPos.y].isEndNode = true;

            // A* algorithm
            var openList:Vector.<AStarNode> = new Vector.<AStarNode>();
            openList[0] = startNode;
            while (openList.length != 0) {
                var currNode:AStarNode = openList.shift();
                if (currNode.isEndNode) break;
                for each (var neighborNode:AStarNode in currNode.neighbors) {
                    if (neighborNode.isClosed) continue;
                    var tentativeValue:int = currNode.value + currNode.distToNeighbor(neighborNode);
                    if (neighborNode.isOpen && tentativeValue >= neighborNode.value) continue;
                    neighborNode.prev = currNode;
                    neighborNode.value = tentativeValue;
                    neighborNode.f = tentativeValue + h(neighborNode, endPos);
                    if (neighborNode.isOpen) {
                        var index:int = openList.indexOf(neighborNode)
                        openList.splice(index--, 1);
                        while (index >= 0 && openList[index].f > neighborNode.f) index--;
                        openList.splice(index + 1, 0, neighborNode);
                    }
                    else if (openList.length == 0) {
                        openList[0] = neighborNode;
                        neighborNode.isOpen = true;
                    }
                    else {
                        var index:int = openList.length - 1;
                        while (index >= 0 && openList[index].f > neighborNode.f) index--;
                        openList.splice(index + 1, 0, neighborNode);
                        neighborNode.isOpen = true;
                    }
                }
                currNode.isOpen = false;
                currNode.isClosed = true;
            }

            nodeMatrix[endPos.x][endPos.y].isEndNode = false;

            if (nodeMatrix[endPos.x][endPos.y].prev == null) {
                reset();
                dispatchEvent(new AStarEvent(AStarEvent.FINISHED, aStarData.tank, null));
                return;
            }