Indoor Navigation

Get the connecting point on the open list which has the lowest score. Let’s call this point p.
Remove p from the open list and add p to the closed list.
FOR each connecting point q in p’s walkable adjacent points:
    IF q is in the closed list: Ignore it.
    IF q is not in the open list: Add it and compute its score.
    IF q is already in the open list: Check if the f score is lower when we use the current generated path to get there.
    If it is, update its score and update its parent as well.