setup the openlist
setup the closedlist
push the starting node to the open list
while the openlist is not empty
   Look for the lowest 'f' cost node on the open list and 
   pop from the openlist and name it 'current'
      if the current node is the goal then exit loop
      for each of the node adjacent to the current node
         set the parent of this adjacent to 'current'
         if a node with the same position as the adjacent / 
         node is in the open list and its 'f' is lower than /
         the node adjacent
            then skip current adjacent node
         if a node with the same position is in closedlist /
         and its 'f' is lower
            then skip current adjacent node
         otherwise push the current node to the open list
         remove occurences of adjacent node from /
         OPEN and CLOSED list
         Add adjacent node to the OPEN list
      end for
   add the current node to the closed list
end while

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