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A* : Algorithm

    List open, closed, successors={};
    Node root_node, current_node, goal;
    insert-back( root_node,open)

    while not-empty (open );

      current_node= remove-front(open);
      insert-back ( current_node,closed);
      if (current_node==goal) return current_node;
      else
        successors= totalEstOrderedSuccessorsOf (current_node);
        for(x in successors)
          if( not-in (x,closed)) insert-back (x,open);
      endIf
    endWhile

 

        totalEstOrderedSuccessorsOf
        returns the list of direct descendants of the current node in shortest total estimation order

 

        N.B.= this version is not saving the path for simplicity


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