A* Graph Search Pseudocode

A* Graph Search Pseudocode.py

def A*-GRAPH-SEARCH (start):
  Let pq be an empty min priority queue
  Let closed be an empty set
  
  g(start) = 0
  f(start) = h(start)
  path(start) = []
  pq.push(start, f(start))
  
  while not pq.empty():
    top = pq.pop()
    if isGoal(top):
      return f(top), path(top)
    closed.add(top)
    foreach next in succ(top):
      if next not in closed:
        g(next) = g(top) + cost(top, next)
        f(next) = g(next) + h(next)
        path(next) = path(top).append(next)
        pq.push(next, f(next))