SaniyaSheikh-15/AI-Powered-Autonomous-Navigation-System — reverse-engineered prompt

Build me a simple Python app that simulates an autonomous navigation system on a 2D grid. I want to see a start point and a goal point, random or placed obstacles, and an agent that uses A star pathfinding to figure out the shortest valid route and then move along it in real time.

Make it visual and easy to understand, with a grid display and clear colors for the start, goal, obstacles, explored cells, and final path. It should handle obstacle avoidance properly, and if the path gets blocked, it should recalculate and keep going if possible. Keep it lightweight and runnable with python main.py after installing the requirements.

Please organize the code cleanly so the pathfinding, agent behavior, grid logic, and helper functions are separated. If anything is unclear, look up current docs for Pygame and NumPy and make reasonable choices.