Use the A$*$ algorithm to plan the path from E to J $.$

a$.$ To ensure that your application of A$*$ can be followed, give the formula for the A$*$

evaluation function and explain each term: f$*($n$)=$g$*($n$)+$h$*($n$)$

f$*($n$)$: the ranking of how good the move to node n will be g$*($n$)$: the actual cost of going from the start node to node n h$*($n$)$: the heuristic function which estimates the optimal cost of going from node n to the end node or goal. NOTE:

it does not have to be Euclidean distance, that$$s just a common admissible h$*($n$)$

for path planning.

b$.$ Show each step and the value of each node evaluated. If there is a tie, choose

the node with lowest letter in the alphabet.