Heuristic Search: A*

Heuristic Search chooses the next node to expand (consider descendants of) based on lowest estimated total cost of a path through the node.

Estimated Total Cost f(n) = g(n) + h(n)
g(n) = Cost from Start to n [known]
h(n) = Cost from n to Goal [estimated]

          g(n)          h(n)?
Start   ------->    n   ------->    Goal

The heuristic function, h , estimates the cost of getting from a given node n to the goal. If h is good, the search will be highly directed and efficient; for example, airline distance is an excellent heuristic distance estimator for route finding. If h is not so good or has pathologies, inclusion of the known cost g keeps the search from getting stuck or going too far astray.

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