对寻路/a*算法的解释？

Question

有人想解释一下（也用伪代码）pathfinding/a*算法是如何在Python中实现的吗？我在网上搜遍了，但我不知道如何计算H-cost或G-cost。我找到了一些源代码，但对我来说太难了（我还是个新手）。在

我有一张这样的地图：

'''
S0000000000000000000000000100000000000
00000000000000000000100000001000000000
10000111110101000001100000001000000000
01111100010001000010100000010000000000
00000100001111100100100001110000110000
00001100000001011000000100000001000000
00000100000000101000000000011110000001
00000010000000000111111111100000000011
00000001000000000000000001100000111100
00000000110000000000000000010011000000
00000000010000000001100000001000000000
00000000010000000000110000000111111000
00000000010000000000010000000000000000
00000000011000111111111111111111111111
000000000100000110000010000000000000E0
00000000001100000100001000000000000000
00000000000100000011000000000000000000
00000000000010000000000000000000000000
'''

其中1是障碍，“S”是起点，“E”是终点。 我如何实现那个算法？如果你能链接到一个简单的解释它的网页，那也会很棒。在