Help me finish my A Star Algorithm in C

Hello I am trying to implement A-Star algorithm in C by myself. I don't know how to use Hashmaps or Lists (but i am open too learn as long as they are simple enough for me) so I use arrays. The problem is simple: There is a NxN array. You can either go up/down or left/right, no diagonial. Horizontal is better (less cost =5) than vertical movement (high cost=10). There are some obstacle-cells. Free cells are represented by number 0 in the NxN array, while obstacle cells with the number 9. The obstacle cells occur as a proportion of the area of the table (for example if the table is 10*10 and the independent possibility to have an obstacle in each cell is 0.1, there will be approximately 10 9's in the table. With the number 1 the starting point is represented and with 2 and 3 the two final goals to go, G1 and G2. I have tried this below: #include<stdio.h> #include <stdlib.h> int main(void) { //create a NxN array int N, sX, sY, g1X,g1Y,g2X,g2Y,i,j,w; double p; float r; printf("Give N\n"); scanf("%d",&N); printf("Give p\n"); scanf("%lf",&p); printf("Give S x k y\n"); scanf("%d",&sX); scanf("%d",&sY); printf("Give G1 x & y\n"); scanf("%d",&g1X); scanf("%d",&g1Y); printf("Give G2 x & y\n"); scanf("%d",&g2X); scanf("%d",&g2Y); int table[N][N]; for(i=0; i<N; i++){ for (j=0; j<N; j++){ r=(float)(rand() % 10)/10; // [0,1) // printf("%f",&r); if (sX==i && sY==j){ table[i][j]=1; // printf("1"); } else if(g1X==i && g1Y==j){ table[i][j]=2; // printf("2"); } else if( g2X==i && g2Y==j){ table[i][j]=3; // printf("3"); } else if (p>=0 && r<=p){ table[i][j]=9; // printf("9"); } else{ table[i][j]=0; // printf("0"); } printf("%d ",table[i][j]); } printf("\n"); } // Create the open list int cX=sX, cY=sY; while (cX!=g1X && cY!=g1Y) { int openList[4][2]; //TOP if(cX>0 && table[cX-1][cY]!=9){ openList[0][0]=(cX-1); openList[0][1]=cY; } else{ openList[0][0]=-1; openList[0][1]=-1; } //BOTTOM if(cX+1<N && table[cX+1][cY]!=9 ){ openList[1][0]=(cX+1); openList[1][1]=cY; } else{ openList[1][0]=-1; openList[1][1]=-1; } //RIGHT if(cY+1<N && table[cX][cY+1]!=9){ openList[2][0]=cX; openList[2][1]=(cY+1); } else{ openList[2][0]=-1; openList[2][1]=-1; } //LEFT if(cY>0 && table[cX][cY-1]!=9){ openList[3][0]=cX; openList[3][1]=(cY-1); } else{ openList[3][0]=-1; openList[3][1]=-1; } printf("Open List of current cell:%d,%d\n",&cX, &cY); for (i=0;i<4;i++){ printf("%d , %d\n",openList[i][0],openList[i][1]); cX=g1X; cY=g2Y; } } return 0; } I want to finish this for USD10$ maximum, with hashmap or list., based on my code so I can understand your edit. Thank you