Dijkstra's algorithm : Grid Search implementation Arduino

This tutorial contains an implementation of Dijkstra's algorithm using an Arduino to search for the shortest path in a grid. Here I have used 4*4 grid to demonstrate the implementation

Step 1 : Write the grid nodes to the EEPROM of the Arduino

Sample grid

1     1     1     0

1     0     1     1

1     1     1     1

1     0     1     1

Note that is a square grid matrix where 1 indicates accessible nodes and 0 indicates nodes to be avoided. I wrote this to Arduino EEPROM by a slight modification to the EEPROMWrite in Arduino example set.

Code:

#include <EEPROM.h>
void setup()
{
 
   EEPROM.write(0,1);
   EEPROM.write(1,1);
   EEPROM.write(2,1);
   EEPROM.write(3,0);
   EEPROM.write(4,1);
   EEPROM.write(5,0);
   EEPROM.write(6,1);
   EEPROM.write(7,1);
   EEPROM.write(8,1);
  EEPROM.write(9,1);
  EEPROM.write(10,1);
  EEPROM.write(11,1);
  EEPROM.write(12,1);
 EEPROM.write(13,0);
 EEPROM.write(14,1);
 EEPROM.write(15,1);
}
void loop()
{
}

Step 2 : Running DIJKSTRA's Algorithm

Below is the code of Dijkstra's implementation using Arduino. Its quite simple even though the chunk of code may suggest otherwise. Objective is to create two matrices. One which contains the cost of travelling from each node to all other nodes. The other matrix contains the shortest path in doing so for each node. So it is clear for our example you should create two 16*16 matrices for the above two purposes since we got 16 nodes.

 If you run this you can see through the Serial Monitor of Arduino IDE chunk of data appearing. You will see somewhere at the beginning a line containing '1''s and '0's, in fact 16  them. That's the nodes in order. Then below that will be a matrix which is our cost matrix I mentioned followed by the matrix containing the shortest path from each node to all other nodes. You can use the information in this matrix to calculate the path you should follow to get from one node to another or else check whether it is possible to get from one node to another(that is if the value of a certain matrix position is -1)

Since the code is 139 lines longer it would look ugly if I included it here. So I will upload it as a text file. 

Check the shortes path code at : https://drive.google.com/file/d/0B8HbaPZHTZ6INkRYN0dqSXllZTA/edit?usp=sharing