I recently just completed and open sourced my first implementation of a path finding algorithm, specifically the Probabilistic Roadmap Algorithm:
Essentially given a map in the stated representation, the algorithm will sample random points and build up paths between them until you have a shortest path (using the sample points) from start to end point. This algorithm is Probabilistic Complete, so if you sample enough, you will eventually find a path, if it exists.
Here is an image visualizing the algorithm (https://raw.githubusercontent.com/KaleabTessera/PRM-Path-Planning/master/1000_samples.png). Any comments or points are welcome 🙂