diff --git a/server/gameserver/constant.h b/server/gameserver/constant.h
index e2ce0cc..5b14537 100755
--- a/server/gameserver/constant.h
+++ b/server/gameserver/constant.h
@@ -378,3 +378,22 @@ const int TERMINATOR_BUFF_ID = 1033;
 
 const int TURN_OVER_SKILL_ID = 41001;
 
+/*
+  1 2 3
+  4 5 6
+  7 8 9
+*/
+const int GRID9_AGROUD_CELL_NUM = 8;
+const int GRID9_AGROUND_CELL_INDEX[GRID9_AGROUD_CELL_NUM][2] =
+    {
+     {-1, -1}, //1
+     {0, -1}, //2
+     {1, -1}, //3
+
+     {-1, 0}, //4
+     {1, 0}, //6
+
+     {-1, 1}, //7
+     {0, 1}, //8
+     {1, 1} //9
+    };
diff --git a/server/gameserver/mapsearchnode.cc b/server/gameserver/mapsearchnode.cc
index 4786ac0..459691f 100644
--- a/server/gameserver/mapsearchnode.cc
+++ b/server/gameserver/mapsearchnode.cc
@@ -1,6 +1,7 @@
 #include "precompile.h"
 
 #include "mapsearchnode.h"
+#include "mapservice.h"
 
 float MapSearchNode::GoalDistanceEstimate(MapSearchNode &node_goal)
 {
@@ -21,19 +22,36 @@ bool MapSearchNode::IsGoal(MapSearchNode &node_goal)
 
 bool MapSearchNode::GetSuccessors(AStarSearch<MapSearchNode> *astarsearch, MapSearchNode *parent_node)
 {
-    return false;
+    int parent_x = -1;
+    int parent_y = -1;
+
+    if (parent_node) {
+        parent_x = parent_node->x;
+        parent_y = parent_node->y;
+    }
+
+    MapSearchNode new_node;
+    new_node.map_service = map_service;
+    for (int index = 0; index < GRID9_AGROUD_CELL_NUM; ++index) {
+        int cell_x = x + GRID9_AGROUND_CELL_INDEX[index][0];
+        int cell_y = y + GRID9_AGROUND_CELL_INDEX[index][1];
+        if ((map_service->GetMap(cell_x, cell_y ) < TILE_STATE_CLOSED) &&
+            !((parent_x == cell_x) && (parent_y == cell_y))
+            ) {
+            new_node = MapSearchNode(cell_x, cell_y);
+            astarsearch->AddSuccessor(new_node);
+        }
+    }
+
+    return true;
 }
 
 float MapSearchNode::GetCost(MapSearchNode &successor)
 {
-#if 1
-    return 1.0f;
-#else
     if (x != successor.x && y != successor.y) {
-        return (float) (NavTileHandle::pCurrNavTileHandle->getMap( x, y ) + 0.41421356/* ±¾ÉíÓÐÖÁÉÙ1µÄÖµ */); //sqrt(2)
+        return (float)(map_service->GetMap(x, y) + 0.41421356);
     }
-    return (float) NavTileHandle::pCurrNavTileHandle->getMap( x, y );
-#endif
+    return (float)map_service->GetMap(x, y);
 }
 
 bool MapSearchNode::IsSameState(MapSearchNode &rhs)
diff --git a/server/gameserver/mapsearchnode.h b/server/gameserver/mapsearchnode.h
index f62e255..08b2ce8 100644
--- a/server/gameserver/mapsearchnode.h
+++ b/server/gameserver/mapsearchnode.h
@@ -2,12 +2,15 @@
 
 #include "framework/stlastar.h"
 
+class MapService;
 class MapSearchNode
 {
 public:
     int x = 0;	 // the (x,y) positions of the node
     int y = 0;
+    MapService* map_service = nullptr;
 
+    MapSearchNode() {}
     MapSearchNode(int px, int py) {x = px; y = py; }
 
     float GoalDistanceEstimate(MapSearchNode &node_goal);
diff --git a/server/gameserver/mapservice.cc b/server/gameserver/mapservice.cc
index 2019510..f64352a 100644
--- a/server/gameserver/mapservice.cc
+++ b/server/gameserver/mapservice.cc
@@ -227,12 +227,36 @@ void MapService::GetColliders(Room* room,
     }
 }
 
+int MapService::GetMap(int x, int y)
+{
+    if (!IsValidPos(x, y)) {
+        return TILE_STATE_CLOSED;
+    }
+    list_head* head = &map_cells_[x * y];
+    if (list_empty(head)) {
+        return TILE_STATE_OPENED_COST1;
+    } else {
+        return TILE_STATE_CLOSED;
+    }
+}
+
 int MapService::GetGridId(float world_x, float world_y)
 {
     int grid_id = (int)(world_x/cell_width_) + (int)(world_y/cell_width_) * map_width_;
     return grid_id;
 }
 
+bool MapService::IsValidPos(int x, int y)
+{
+    if (x < 0 ||
+        y < 0 ||
+        x >= map_width_ ||
+        y >= map_height_) {
+        return false;
+    }
+    return true;
+}
+
 FindPathStatus* MapService::AddFindPathRequest(Human* hum,
                                                const a8::Vec2& start_pos,
                                                const a8::Vec2& end_pos,
diff --git a/server/gameserver/mapservice.h b/server/gameserver/mapservice.h
index b71bdb2..781f011 100644
--- a/server/gameserver/mapservice.h
+++ b/server/gameserver/mapservice.h
@@ -5,6 +5,17 @@
 class Human;
 class ColliderComponent;
 
+enum TILE_STATE
+{
+   TILE_STATE_OPENED_COST0 = 0,
+   TILE_STATE_OPENED_COST1 = 1,
+   TILE_STATE_OPENED_COST2 = 2,
+   TILE_STATE_OPENED_COST3 = 3,
+   TILE_STATE_OPENED_COST4 = 4,
+   TILE_STATE_OPENED_COST5 = 5,
+   TILE_STATE_CLOSED = 9
+};
+
 struct CellNode
 {
     ColliderComponent* collider;
@@ -52,6 +63,7 @@ class MapService
                       float world_x,
                       float world_y,
                       std::set<ColliderComponent*>& colliders);
+    int GetMap(int x, int y);
 
     FindPathStatus* AddFindPathRequest(Human* hum,
                                        const a8::Vec2& start_pos,
@@ -65,6 +77,7 @@ class MapService
 
  private:
     int GetGridId(float world_x, float world_y);
+    bool IsValidPos(int x, int y);
 
  private:
     list_head* map_cells_ = nullptr;