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Finding the most natural route between two points on the grid

How can I find the most natural route (something a person can do) between two points, assuming I have an array of bytes, with each bit representing a square of a fixed size and indicating whether it is accessible or not? For example, assuming the array represents the following grid:enter image description here

If the gray squares cannot intersect, I need an algorithm that finds the path indicated by the orange squares, and not the one represented by the brown squares.

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/* "Octile" heuristic */
int h(node n)
{
  int dx = abs(n.x - goal.x);
  int dy = abs(n.y - goal.y);

  if (dx > dy)
    return 14 * dy + 10 * (dx - dy);
  else
    return 14 * dx + 10 * (dy - dx);
}

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