A* Pathfinding

Set all nodes to no direction and an infinite navigation cost.

Start with a list of active nodes.

Put the starting node in the set of active nodes.

Iterate the active nodes:

• Pull the node with the lowest total travel cost + heuristic cost to the destination
• Evaluate neighbors of this nodeci
• If their new costs are lower then update their cost and re-add them to the list of active nodes.

Search stops when there are no more active nodes or a path to the destination is found.