11/29/13:

Implemented a weighted breadth first search to find the optimal path across the voronoi diagram to the goal. The main change from the standard breadth first search is that the queue is now arranged cost, in this case distance from the start location by traversing edges. In this way we minimize the distance traveled as opposed to the number of nodes traversed.

the image above shows the path chosen by the algorithm. The arrows represent the start and end points.

11/28/13:

Used a hashing table and linked search tree to represent the output of Fortune's code in a more searchable form.