Shortest path with intermediate nodes algorithm

Hello. I am looking for a shortest path algorithm with the restriction
of passing through several intermediate nodes.

That is:

INPUT: First Node A, Destination Node B, and a list of intermediate
nodes N1,N2...Nk.
OUTPUT: heuristic aproximation of the shortest path which goes through
A,N1,N2...Nk,B.

What I really am looking for is an algorithm to plan routes in a road
map with several stops.

Thanks in advance!

.

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