Scribd
Upload
112 views1 page

AStar Algorithm

The A* algorithm pseudocode maintains two lists: OPEN and CLOSED. OPEN contains nodes that have been visited but not expanded, while CLOSED contains nodes that have been visited and expanded. It starts with the start node in OPEN and iteratively removes the lowest cost node from OPEN, generates its successors, and adds them to OPEN until the goal node is found or OPEN is empty, in which case no path exists.

Uploaded by

Han Siam Sìmte
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
112 views1 page

AStar Algorithm

The A* algorithm pseudocode maintains two lists: OPEN and CLOSED. OPEN contains nodes that have been visited but not expanded, while CLOSED contains nodes that have been visited and expanded. It starts with the start node in OPEN and iteratively removes the lowest cost node from OPEN, generates its successors, and adds them to OPEN until the goal node is found or OPEN is empty, in which case no path exists.

Uploaded by

Han Siam Sìmte
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 1

A* Algorithm pseudocode

The goal node is denoted by node_goal and the source node is denoted by node_start
We maintain two lists: OPEN and CLOSE:
OPEN consists on nodes that have been visited but not expanded (meaning that sucessors have not been
explored yet). This is the list of pending tasks.
CLOSE consists on nodes that have been visited and expanded (sucessors have been explored already and
included in the open list, if this was the case).

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23

Put node_start in the OPEN list with f (node_start) = h(node_start) (initialization)


while the OPEN list is not empty {
Take from the open list the node node_current with the lowest
f (node_current) = g(node_current) + h(node_current)
if node_current is node_goal we have found the solution; break
Generate each state node_successor that come after node_current
for each node_successor of node_current {
Set successor_current_cost = g(node_current) + w(node_current, node_successor)
if node_successor is in the OPEN list {
if g(node_successor) successor_current_cost continue (to line 20)
} else if node_successor is in the CLOSED list {
if g(node_successor) successor_current_cost continue (to line 20)
Move node_successor from the CLOSED list to the OPEN list
} else {
Add node_successor to the OPEN list
Set h(node_successor) to be the heuristic distance to node_goal
}
Set g(node_successor) = successor_current_cost
Set the parent of node_successor to node_current
}
Add node_current to the CLOSED list
}
if(node_current != node_goal) exit with error (the OPEN list is empty)

You might also like