Algoritmo A*: Tudo o que você precisa saber

// Exemplo funcional em JavaScript
function getNeighbors(node) {
  // Retorna vizinhos
}
function heuristic(a, b) {
  // Retorna distância estimada
}
function aStar(grid, startNode, endNode) {
  let openSet = [startNode];
  let cameFrom = {};
  let gScore = {[startNode.toString()]: 0};
  let fScore = {[startNode.toString()]: heuristic(startNode, endNode)};
  while (openSet.length > 0) {
    let current = minFscore(openSet, fScore);
    if (current === endNode) return reconstructPath(cameFrom, current);
    openSet.splice(openSet.indexOf(current), 1);
    for (let neighbor of getNeighbors(current)) {
      let tentativeGScore = gScore[current.toString()] + distBetween(current, neighbor);
      if (tentativeGScore < gScore[neighbor.toString()] || !gScore[neighbor.toString()]) {
        cameFrom[neighbor.toString()] = current;
        gScore[neighbor.toString()] = tentativeGScore;
        fScore[neighbor.toString()] = tentativeGScore + heuristic(neighbor, endNode);
        if (!openSet.includes(neighbor)) openSet.push(neighbor);
      }
    }
  }
}

# Exemplo funcional em Python
def heuristic(a, b): 
    return abs(a[0] - b[0]) + abs(a[1] - b[1]) # Heurística Manhattan
def a_star(graph, start, goal): 
    open_set = {start} 
    came_from = {} 
    g_score = {start: 0} 
    f_score = {start: heuristic(start, goal)} 
    while open_set: 
        current = min(f_score.items(), key=lambda item: item[1])[0] 
        if current == goal: 
            return reconstruct_path(came_from, current) 
        open_set.remove(current) 
        for neighbor in graph.neighbors(current): 
            tentative_g_score = g_score[current] + dist_between(current, neighbor) 
            if tentative_g_score < g_score.get(neighbor, float('inf')): 
                came_from[neighbor] = current 
                g_score[neighbor] = tentative_g_score 
                f_score[neighbor] = tentative_g_score + heuristic(neighbor, goal) 
                if neighbor not in open_set: 
                    open_set.add(neighbor)