self.path = []

		closedSet = set ()
		openSet = set ()

		openSet.add (self.pathStart)

		cameFrom = {}
		gScore = {}
		hScore = {}
		fScore = {}

		cameFrom [self.pathStart] = None
		gScore [self.pathStart] = 0
		hScore [self.pathStart] = heuristic (self.pathStart, self.pathEnd)
		fScore [self.pathStart] = gScore [self.pathStart] + hScore [self.pathStart]

		while len (openSet) > 0:
			# Find the item in the open set with the lowest f score
			minFNode = None
			for x in openSet:
				if not minFNode or fScore [x] < fScore [minFNode]:
					minFNode = x

			# If we got to the end, then reconstruct our path and exit
			if minFNode == self.pathEnd:
				curNode = self.pathEnd
				while cameFrom [curNode]:
					self.path.append (cameFrom [curNode])
					curNode = cameFrom [curNode]
				return True

			openSet.remove (minFNode)
			closedSet.add (minFNode)

			neighbors = []

			if minFNode [0] > 0:
				# Left
				neighbors.append ((minFNode [0] - 1, minFNode [1]))
			if minFNode [0] < GRID_WIDTH - 1:
				# Right
				neighbors.append ((minFNode [0] + 1, minFNode [1]))
			if minFNode [1] > 0:
				# Up
				neighbors.append ((minFNode [0], minFNode [1] - 1))
			if minFNode [1] < GRID_HEIGHT - 1:
				# Down
				neighbors.append ((minFNode [0], minFNode [1] + 1))

			for x in neighbors:
				if not self.terrainGrid.passable [x [1]][x [0]]:
					continue

				if x in closedSet:
					continue

				# The 1 is distance to neighbor, I'm not using diagonals yet
				tentGScore = gScore [minFNode] + 1
				tentIsBetter = False

				if not x in openSet:
					openSet.add (x)
					tentIsBetter = True
				elif tentGScore < gScore [x]:
					tentIsBetter = True

				if tentIsBetter:
					cameFrom [x] = minFNode
					gScore [x] = tentGScore
					hScore [x] = heuristic (x, self.pathEnd)
					fScore [x] = gScore [x] + hScore [x]
		return False