AStar

// A* Search Algorithm

Initialize the open list
Initialize the closed list put the starting node on the open list (you can leave its f at zero)
while the open list is not empty a) find the node with the least f on the open list, call it "q"

b) pop q off the open list

c) generate q's 8 successors and set their parents to q

d) for each successor i) if successor is the goal, stop search successor.g = q.g + distance between successor and q successor.h = distance from goal to successor (This can be done using many ways, we will discuss three heuristics- Manhattan, Diagonal and Euclidean Heuristics)
```
  successor.f = successor.g + successor.h

ii) if a node with the same position as 
    successor is in the OPEN list which has a 
   lower f than successor, skip this successor

iii) if a node with the same position as 
    successor  is in the CLOSED list which has
    a lower f than successor, skip this successor
    otherwise, add  the node to the open list
```
end (for loop)

e) push q on the closed list end (while loop)

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