Corrected the algorithm failing when reaching top or left border. Had a greater than 0, when it should be greater or equal to 0. Added some colors to the GUI to show path tracking. The GUI is mirrored along the diagonal (probably due to the indices in the matrix I use). The heuristic method does for now use Pythagoras formula to calculate the remaining path. Now I only have to try out different heuristics and make the distance calculation between adjacent nodes better (this will allow for Mesh vertices instead of predefined grids.