Dijkstra

priority queue	Open
DijkstraSearch
node n, n', s
s.cost = 0
s.parent = null // s is a node for the start
push s on Open
while Open is not empty
pop node n from Open // n has lowest cost in Open
if n is a goal node
construct path
return success
for each successor n' of n
newcost = n.cost + cost(n,n')
if n' is in Open
and n'.cost <= newcost
continue
n'.parent = n
n'.cost = newcost
if n' is not yet in Open
push n' on Open
return failure // if no path found