A* algorithm not working properly

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I need some help with my A* algorithm implementation. When I run the algorithm it does find the goal, but the path is definately not the shortest :-P

Here is my code, please help me spot the bugs! I think it might be the reconstruct path that is my problem but I'm not sure.

public class Pathfinder {

public List<Node> aStar(Node start, Node goal, WeightedGraph graph) {
    Node x, y;
    int tentative_g_score;
    boolean tentative_is_better;

    FScoreComparator comparator = new FScoreComparator();
    List<Node> closedset = new ArrayList<Node>();
    Queue<Node> openset = new PriorityQueue<Node>(10, comparator);
    openset.add(start);

    start.g_score = 0;
    start.h_score = heuristic_cost_estimate(start, goal);
    start.f_score = start.h_score;

    while (!openset.isEmpty()) {
        x = openset.peek();

        if (x == goal) {
            return reconstruct_path(goal);
        }

        x = openset.remove();
        closedset.add(x);

        for (Edge e : graph.adj(x)) {

            if (e.v == x) {
                y = e.w;
            } else {
                y = e.v;
            }

            if (closedset.contains(y) || y.illegal) {
                continue;
            }

            tentative_g_score = x.g_score + e.weight;

            if (!openset.contains(y)) {
                openset.add(y);
                tentative_is_better = true;
            } else if (tentative_g_score < y.g_score) {
                tentative_is_better = true;
            } else {
                tentative_is_better = false;
            }

            if (tentative_is_better) {
                y.g_score = tentative_g_score;
                y.h_score = heuristic_cost_estimate(y, goal);
                y.f_score = y.g_score + y.h_score;
                y.parent = x;
            }

        }

    }

    return null;

}

private int heuristic_cost_estimate(Node start, Node goal) {
    return Math.abs(start.x - goal.x) + Math.abs(start.y - goal.y);
}

private List<Node> reconstruct_path(Node current_node) {
    List<Node> result = new ArrayList<Node>();

    while (current_node != null) {
        result.add(current_node);
        current_node = current_node.parent;
    }

    return result;
}

private class FScoreComparator implements Comparator<Node> {

    public int compare(Node n1, Node n2) {
        if (n1.f_score < n2.f_score) {
            return 1;
        } else if (n1.f_score > n2.f_score) {
            return -1;
        } else {
            return 0;
        }
    }
}

}

Thanks to everyone for all the great answers! My A* algorithm now works perfectly thanks to you guys! :-)

This was my first post and this forum is really amazing!

2 Answers
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