diff --git a/Search-based Planning/.idea/workspace.xml b/Search-based Planning/.idea/workspace.xml
index ab1a2a8..854ee16 100644
--- a/Search-based Planning/.idea/workspace.xml	
+++ b/Search-based Planning/.idea/workspace.xml	
@@ -20,10 +20,8 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/Search_2D/Potential_Field.py" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/Search_2D/Hybrid_Astar.py" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Search_2D/Field_D_star.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/Field_D_star.py" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Search_2D/env.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/env.py" afterDir="false" />
     </list>
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
diff --git a/Search-based Planning/Search_2D/Hybrid_Astar.py b/Search-based Planning/Search_2D/Hybrid_Astar.py
new file mode 100644
index 0000000..e69de29