Please run the FindPath.py for path. Map.py and PriorityQueue.py is the support class for the A star algorithm. PIL module is for read image into the np array. to install please run the following command: pip install pillow since PIL is the name used in python 2.0+ In python 3.0+, the name of the module was changed in to pillow. PRDCSG map is in 3 resolution: x0 means the original resolution x2 means the 0.5 size resolution x4 means the 0.25 size resolution process: 1 select the image map 2 input the start point and end point and check whether it is reachable. 3 run the FindPath.py