diff --git a/src/main.cc b/src/main.cc
index c361864..8ab9925 100644
--- a/src/main.cc
+++ b/src/main.cc
@@ -11,7 +11,9 @@
 #include <boost/asio/use_awaitable.hpp>
 #include <boost/asio/write.hpp>
 #include <iostream>
+#include <map>
 #include <random>
+#include <set>
 #include <sstream>
 #include <string>
 #include <string_view>
@@ -19,11 +21,11 @@
 
 namespace asio = boost::asio;
 
-enum class Direction : int {
-  UP,
-  RIGHT,
-  DOWN,
-  LEFT,
+enum class Direction : unsigned {
+  UP = 1,
+  RIGHT = 2,
+  DOWN = 4,
+  LEFT = 8,
 };
 
 std::string_view DirectionToString(Direction direction) {
@@ -50,11 +52,12 @@ class Bot {
   int goal_x, goal_y;
   int x, y;
   bool up, right, down, left;
-  Direction heading;
+  std::map<std::pair<int, int>, unsigned> known_map;
 
   asio::awaitable<void> Protocol();
   asio::awaitable<void> Join();
   asio::awaitable<bool> Move(Direction dir);
+  unsigned ShortestPath(int x, int y);
   asio::awaitable<void> ChooseMove();
 
  public:
@@ -68,8 +71,7 @@ Bot::Bot(asio::any_io_executor executor, std::string_view name,
       timer{executor},
       socket{executor},
       name{name},
-      pass{pass},
-      heading{Direction::LEFT} {
+      pass{pass} {
   asio::co_spawn(executor, std::bind(&Bot::Protocol, this), asio::detached);
 }
 
@@ -112,6 +114,7 @@ asio::awaitable<void> Bot::Protocol() {
             iss >> goal_x >> dummy >> goal_y;
             std::cout << "-> Goal is at (" << goal_x << ", " << goal_y << ")"
                       << std::endl;
+            known_map.clear();
           } else if (field == "pos") {
             iss >> x >> dummy >> y >> dummy >> up >> dummy >> right >> dummy >>
                 down >> dummy >> left;
@@ -171,12 +174,94 @@ asio::awaitable<bool> Bot::Move(Direction direction) {
   co_return true;
 }
 
-asio::awaitable<void> Bot::ChooseMove() {
-  // follow right wall
-  while (!co_await Move(heading)) {
-    heading = Direction{(static_cast<int>(heading) + 3) % 4};
+unsigned Bot::ShortestPath(int x, int y) {
+  // Djikstra
+  std::set<std::pair<int, int>> visited;
+  std::multimap<unsigned, std::pair<int, int>> queue;
+  auto goal = std::make_pair(goal_x, goal_y);
+
+  queue.emplace(0, std::make_pair(x, y));
+  while (queue.begin() != queue.end()) {
+    auto it = queue.begin();
+    auto distance = it->first;
+    auto position = it->second;
+    queue.erase(it);
+    if (position == goal) {
+      return distance;
+    }
+    if (visited.count(position)) {
+      continue;
+    }
+    if (!(known_map[position] & static_cast<unsigned>(Direction::LEFT))) {
+      queue.emplace(distance + 1,
+                    std::make_pair(position.first - 1, position.second));
+    }
+    if (!(known_map[position] & static_cast<unsigned>(Direction::RIGHT))) {
+      queue.emplace(distance + 1,
+                    std::make_pair(position.first + 1, position.second));
+    }
+    if (!(known_map[position] & static_cast<unsigned>(Direction::UP))) {
+      queue.emplace(distance + 1,
+                    std::make_pair(position.first, position.second - 1));
+    }
+    if (!(known_map[position] & static_cast<unsigned>(Direction::DOWN))) {
+      queue.emplace(distance + 1,
+                    std::make_pair(position.first, position.second + 1));
+    }
+    visited.emplace(position);
   }
-  heading = Direction{(static_cast<int>(heading) + 1) % 4};
+  // should never happen
+  return -1;
+}
+
+asio::awaitable<void> Bot::ChooseMove() {
+  // update map
+  known_map[std::make_pair(x, y)] =
+      (up ? static_cast<unsigned>(Direction::UP) : 0) |
+      (right ? static_cast<unsigned>(Direction::RIGHT) : 0) |
+      (down ? static_cast<unsigned>(Direction::DOWN) : 0) |
+      (left ? static_cast<unsigned>(Direction::LEFT) : 0);
+  known_map[std::make_pair(x - 1, y)] |=
+      (left ? static_cast<unsigned>(Direction::RIGHT) : 0);
+  known_map[std::make_pair(x + 1, y)] |=
+      (right ? static_cast<unsigned>(Direction::LEFT) : 0);
+  known_map[std::make_pair(x, y - 1)] |=
+      (up ? static_cast<unsigned>(Direction::DOWN) : 0);
+  known_map[std::make_pair(x, y + 1)] |=
+      (down ? static_cast<unsigned>(Direction::UP) : 0);
+
+  // find best move
+  Direction best;
+  unsigned best_estimate = -1;
+  if (!left) {
+    unsigned estimate = ShortestPath(x - 1, y);
+    if (estimate < best_estimate) {
+      best = Direction::LEFT;
+      best_estimate = estimate;
+    }
+  }
+  if (!right) {
+    unsigned estimate = ShortestPath(x + 1, y);
+    if (estimate < best_estimate) {
+      best = Direction::RIGHT;
+      best_estimate = estimate;
+    }
+  }
+  if (!up) {
+    unsigned estimate = ShortestPath(x, y - 1);
+    if (estimate < best_estimate) {
+      best = Direction::UP;
+      best_estimate = estimate;
+    }
+  }
+  if (!down) {
+    unsigned estimate = ShortestPath(x, y + 1);
+    if (estimate < best_estimate) {
+      best = Direction::DOWN;
+      best_estimate = estimate;
+    }
+  }
+  co_await Move(best);
   co_return;
 }