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I created the solution below for this problem. I don't think it is optimal, I think it could be improved but it works.
The results it throws seem to be backwards in terms of (X, Y), but I think that is because the way I declared the char array that represents the maze.
The maze I created is shown below. The "#" means obstacle, "." means free path, "+" is used by the algorithm to mark cells each recursion has visited and G marks the goal.
Maze:
.##....
.##.##.
.....#.
#.##.#.
#.#..#.
#.#.###
#......
- jcmh0782 February 24, 2014