有人想解释我（在伪代码中）如何在Python中实现pathfinding / a *算法？我在互联网上搜索但我无法理解如何计算H成本或G成本。我找到了一些源代码，但对我来说太难了（我还是新手）。
我想我有这样的地图：
'''
S0000000000000000000000000100000000000
00000000000000000000100000001000000000
10000111110101000001100000001000000000
01111100010001000010100000010000000000
00000100001111100100100001110000110000
00001100000001011000000100000001000000
00000100000000101000000000011110000001
00000010000000000111111111100000000011
00000001000000000000000001100000111100
00000000110000000000000000010011000000
00000000010000000001100000001000000000
00000000010000000000110000000111111000
00000000010000000000010000000000000000
00000000011000111111111111111111111111
000000000100000110000010000000000000E0
00000000001100000100001000000000000000
00000000000100000011000000000000000000
00000000000010000000000000000000000000
'''
1s是障碍，＆＃39; S＆＃39;是起点和E＆＃39;结束了。 我该如何实现该算法？如果你可以链接一个能够轻松解释它的网页，那就太好了。