priorityqueue	Open
list		Closed

AStarSearch
	s.g = 0		// s is the start node
	s.h = GoalDistEstimate( s )
	s.f = s.g + s.h
	s.parent = null
	push s on Open
	while Open is not empty
		pop node n from Open  // n has the lowest f
		if n is a goal node 
			construct path 
			return success
		for each successor n' of n
			newg = n.g + cost(n,n')
			if n' is in Open or Closed,
			 and n'.g <= newg
				skip
			n'.parent = n
			n'.g = newg
			n'.h = GoalDistEstimate( n' )
			n'.f = n'.g + n'.h
			if n' is in Closed
				remove it from Closed
			if n' is not yet in Open
				push n' on Open
		push n onto Closed
	return failure  // if no path found