Variable priorities in maze-solving algorithms for robot's movement

Most existing maze-solving algorithms assume a constant priority for the robot's movement. Thus, each moment, the robot will determine next movement only by the assumed constant priority. As turning would take a lot of time the fastest path is the one that has less turns. Because of the fastest path is preferred, and the constant priority might not lead the robot to the one with less turns, a movement priority that considers nonturning paths engenders less solving-time. A "variable priority for robot's movement", beside of the new main priority, is introduced. This variable priority with the new main priority will cause less solving-time. So, it would increase the solving efficiency a lot. One more advantage is that this manner is general and not just for a specific maze. It is important because in today's projects, most of the time, the environment around the robot is not known.