Sorry for answering late again. Things have been very chaotic lately.
I won't be able to implement this into the project directly, due to potential licence issues (No licences specified).
But it is a good resource nevertheless.
Currently there are other resources I need to attend to before continuing on a update for the kit.
I will do my best to free some time in early 2019 and implement a A* solution with your given resource as reference.
Hope it is going well for you so far.
Thanks you for sharing your findings!