a simple implementation of A* algorithm in javascript
An example of an A* algorithm in action where nodes are cities connected with roads and h(x) is the straight-line distance to target point: An example of A* algorithm in action (nodes are cities connected with roads, h(x) is the straight-line distance to target point) Green: Start, Blue: Target, Orange: Visited
Key: green: start; blue: goal; orange: visited
function A*(start, goal)
// The set of nodes already evaluated
closedSet := {}
// The set of currently discovered nodes that are not evaluated yet.
// Initially, only the start node is known.
openSet := {start}
// For each node, which node it can most efficiently be reached from.
// If a node can be reached from many nodes, cameFrom will eventually contain the
// most efficient previous step.
cameFrom := an empty map
// For each node, the cost of getting from the start node to that node.
gScore := map with default value of Infinity
// The cost of going from start to start is zero.
gScore[start] := 0
// For each node, the total cost of getting from the start node to the goal
// by passing by that node. That value is partly known, partly heuristic.
fScore := map with default value of Infinity
// For the first node, that value is completely heuristic.
fScore[start] := heuristic_cost_estimate(start, goal)
while openSet is not empty
current := the node in openSet having the lowest fScore[] value
if current = goal
return reconstruct_path(cameFrom, current)
openSet.Remove(current)
closedSet.Add(current)
for each neighbor of current
if neighbor in closedSet
continue // Ignore the neighbor which is already evaluated.
if neighbor not in openSet // Discover a new node
openSet.Add(neighbor)
// The distance from start to a neighbor
tentative_gScore := gScore[current] + dist_between(current, neighbor)
if tentative_gScore >= gScore[neighbor]
continue // This is not a better path.
// This path is the best until now. Record it!
cameFrom[neighbor] := current
gScore[neighbor] := tentative_gScore
fScore[neighbor] := gScore[neighbor] + heuristic_cost_estimate(neighbor, goal)
return failure
function reconstruct_path(cameFrom, current)
total_path := [current]
while current in cameFrom.Keys:
current := cameFrom[current]
total_path.append(current)
return total_path
you can get a lot of information about this algorithm Here
- NodeJS - for making a simple http server [optinal to use it]
- p5.js - p5.js a JS client-side library for creating graphic and interactive experiences, based on the core principles of Processing.
- Shady Khalifa - Initial work
See also the list of contributors who participated in this project.
This project is licensed under the MIT License - see the LICENSE.md file for details