| 1 | Create a node containing the goal state node_goal | 2 | Create a node containing the start state node_start | 3 | Put node_start on the open list | 4 | while the OPEN list is not empty | 5 | { | 6 | Get the node off the open list with the lowest f and call it node_current | 7 | if node_current is the same state as node_goal we have found the solution; break from the while loop | 8 | Generate each state node_successor that can come after node_current | 9 | for each node_successor of node_current | 10 | { | 11 | Set the cost of node_successor to be the cost of node_current plus the cost to get to node_successor from node_current | 12 | find node_successor on the OPEN list | 13 | if node_successor is on the OPEN list but the existing one is as good or better then discard this successor and continue | 14 | if node_successor is on the CLOSED list but the existing one is as good or better then discard this successor and continue | 15 | Remove occurences of node_successor from OPEN and CLOSED | 16 | Set the parent of node_successor to node_current | 17 | Set h to be the estimated distance to node_goal (Using the heuristic function) | 18 | Add node_successor to the OPEN list | 19 | } | 20 | Add node_current to the CLOSED list | 21 | } |