diff --git a/Search-based Planning/.idea/workspace.xml b/Search-based Planning/.idea/workspace.xml
index 7da76db..fdcfda4 100644
--- a/Search-based Planning/.idea/workspace.xml	
+++ b/Search-based Planning/.idea/workspace.xml	
@@ -21,8 +21,10 @@
   <component name="ChangeListManager">
     <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Search_3D/Astar3D.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_3D/Astar3D.py" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Search_3D/LRT_Astar3D.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_3D/LRT_Astar3D.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Search_2D/LRTAstar.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/LRTAstar.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Search_2D/RTAAstar.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/RTAAstar.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/gif/LRTA_star.gif" beforeDir="false" afterPath="$PROJECT_DIR$/gif/LRTA_star.gif" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/gif/RTAA_star.gif" beforeDir="false" afterPath="$PROJECT_DIR$/gif/RTAA_star.gif" afterDir="false" />
     </list>
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
@@ -68,7 +70,7 @@
       </list>
     </option>
   </component>
-  <component name="RunManager" selected="Python.LRT_Astar3D">
+  <component name="RunManager" selected="Python.RTAAstar">
     <configuration name="Astar3D" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
@@ -205,10 +207,10 @@
     </list>
     <recent_temporary>
       <list>
-        <item itemvalue="Python.LRT_Astar3D" />
-        <item itemvalue="Python.Astar3D" />
         <item itemvalue="Python.RTAAstar" />
         <item itemvalue="Python.LRTAstar" />
+        <item itemvalue="Python.LRT_Astar3D" />
+        <item itemvalue="Python.Astar3D" />
         <item itemvalue="Python.LPAstar" />
       </list>
     </recent_temporary>
diff --git a/Search-based Planning/Search_2D/LRTAstar.py b/Search-based Planning/Search_2D/LRTAstar.py
index 5eb2e86..fc0b401 100644
--- a/Search-based Planning/Search_2D/LRTAstar.py	
+++ b/Search-based Planning/Search_2D/LRTAstar.py	
@@ -180,7 +180,7 @@ def main():
     x_start = (10, 5)
     x_goal = (45, 25)
 
-    lrta = LrtAstarN(x_start, x_goal, 100, "euclidean")
+    lrta = LrtAstarN(x_start, x_goal, 150, "euclidean")
     plot = plotting.Plotting(x_start, x_goal)
     fig_name = "Learning Real-time A* (LRTA*)"
 
diff --git a/Search-based Planning/Search_2D/RTAAstar.py b/Search-based Planning/Search_2D/RTAAstar.py
index 0983c36..d437849 100644
--- a/Search-based Planning/Search_2D/RTAAstar.py	
+++ b/Search-based Planning/Search_2D/RTAAstar.py	
@@ -107,7 +107,7 @@ class RtaAstar:
 
     def Astar(self, x_start, N):
         OPEN = queue.QueuePrior()                               # OPEN set
-        OPEN.put(x_start, self.h(x_start))
+        OPEN.put(x_start, self.h_table[x_start])
         CLOSED = set()                                          # CLOSED set
         g_table = {x_start: 0, self.xG: float("inf")}           # cost to come
         PARENT = {x_start: x_start}                             # relations
@@ -190,7 +190,7 @@ def main():
     x_start = (10, 5)
     x_goal = (45, 25)
 
-    rtaa = RtaAstar(x_start, x_goal, 220, "euclidean")
+    rtaa = RtaAstar(x_start, x_goal, 150, "euclidean")
     plot = plotting.Plotting(x_start, x_goal)
     fig_name = "Real-time Adaptive A* (RTAA*)"
 
diff --git a/Search-based Planning/gif/LRTA_star.gif b/Search-based Planning/gif/LRTA_star.gif
index ea7f7da..6c38489 100644
Binary files a/Search-based Planning/gif/LRTA_star.gif and b/Search-based Planning/gif/LRTA_star.gif differ
diff --git a/Search-based Planning/gif/RTAA_star.gif b/Search-based Planning/gif/RTAA_star.gif
index 9fe69af..4c531b3 100644
Binary files a/Search-based Planning/gif/RTAA_star.gif and b/Search-based Planning/gif/RTAA_star.gif differ