Path-finding is a sophisticated topic; while a basic A* implementation like this one is a robust solution to simpler maps under constraints such as tiled movement, more free-form movement environments will demand more elaborate solutions. However, the solution presented here is both fairly efficient and quite adaptable in the way you can redefine its neighbor and heuristic functions; for instance, you could allow different characters to navigate the same map by different routes if one of them can fly over cliffs and trees.