迭代加深深度首先在2d数组中搜索

我试图在2d数组（迷宫）中实现迭代加深搜索 .

static void Run_Ids(int x, int y)
    {
        int depth_limit = 0;

        while(!cutoff)
        {   
            out.println("Doing search at depth: " + depth_limit);             
            depthLimitedSearch(x, y, depth_limit);
            depth_limit++;
        }      
    }

这是我使用堆栈的有限深度优先搜索 . 出于某种原因，它在两个单元之间来回传递 . 它不会像它应该扩展 . 我认为我的DFS算法有问题 .

static void depthLimitedSearch(int x, int y, int depth){        
    Pair successor;    //pair is the x, y co-ordinate
    successor = starting();  //set the successor to starting cell

    stack = new Stack<>();
    int i = 0;
    stack.push(successor);

    while (!stack.isEmpty())
    {
        out.println("i level: " + i);
        Pair parent = stack.peek();   //pop it here?

        if (parent.x == Environment.goal[0] && parent.y == Environment.goal[1]){  //check to see if it is the goal
            cutoff = true;
            out.println("goal found ");                
            break;
        }
        if (i == depth){
            //stack.pop();   //pop here?
            break;
        }
        else{

            Pair  leftPos,rightPos,upPos,downPos;
            leftPos = leftPosition(parent.x, parent.y);
            rightPos = rightPosition(parent.x, parent.y);
            upPos = upPosition(parent.x, parent.y);
            downPos = downPosition(parent.x, parent.y);


            if(Environment.isMovePossible(rightPos.x, rightPos.y))
                                        //if it can go right
                   stack.push(rightPos);   

            if(Environment.isMovePossible(leftPos.x, leftPos.y))
                                       // if it can go left
                   stack.push(leftPos);

             if(Environment.isMovePossible(downPos.x, downPos.y))
                                     //if it can go down
                  stack.push(downPos);

            if(Environment.isMovePossible(upPos.x, upPos.y))                
                                        //if it can go up
                    stack.push(upPos);


            stack.pop();         //pop here?


        }  //else       

        i++;

    }//while     
}

我没有那么多堆栈的经验，我很困惑在哪里推它和在哪里弹出 . 如果这里有人能指出我正确的方向，那就太好了！