Finding an optimal rook's tour route using bfsearch function

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Hello: How can the optimal path be found for a rook to visit all squares once when some squares on the board are blocked?
For example, consider the situation shown in the attached diagram. The rook starts in the upper left corner and requires
23 moves to visit all the open squares. However, this is not a minimum. I understand the function bfsearch might help seek
the optimal/minimal move path. Also, can row (or rows) be identified which will never allow this minimum to achieved? I have looked at bfsearch but have idea how to use it to solve this problem - if it can be used at all. Does it have to used in some kind of for-next loop, that is to say, the rook has to be placed in each square and the analysis re-run and the results recorded? This is all new to me.

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