[GeeTwo]

I cannot tell where the start or end points are; I thought this was searching from one point (presumably 57, 56), not two. It would be helpful if the nodes were color-coded by the iteration number. If it would not be too cluttered, displaying the obstacles would be nice, as well.

Finally, I'm not sure if I misread the original problem statement, but I understood that the goal was to optimize the route, not the search for any route. In optimizing the route, you would probably want to use the corners and edges of the obstacles as search nodes, as well as random points away from the obstacles. This tactic would also help locate paths through narrow gaps that the unconstrained exploring tree would be likely to miss.