|
OPEN = priority queue containing START CLOSED = empty set while lowest rank in OPEN is not the GOAL: current = remove lowest rank item from OPEN add current to CLOSED for neighbors of current: cost = g(current) + movementcost(current, neighbor) if neighbor in OPEN and cost less than g(neighbor): remove neighbor from OPEN, because new path is better if neighbor in CLOSED and cost less than g(neighbor): ** remove neighbor from CLOSED if neighbor not in OPEN and neighbor not in CLOSED: set g(neighbor) to cost add neighbor to OPEN set priority queue rank to g(neighbor) + h(neighbor) set neighbor's parent to current reconstruct reverse path from goal to start by following parent pointers |
|
|
