Routing ensuring all areas are touched

I'm making a web application with leaflet and OSM. It's all going well, but now I need a little help.

I'm searching for a good routing engine, that's capable of creating the most probably taken route based on "checkarea":

I've many points logged every N minutes, and they are not really precise, but their offset should be 400m, average of 200m. I need to know what route has been taken.

I'll explain better:

I've this start A and finish B point. The black line it's like a street map, blue dots are points I calculated and blue circle are areas where it should route. The yellow path it's what the engine should calculate.

I've starting modifying Pyroutelib2, but maybe I'm just reinventing the wheel.