I have a 2D plane, with a fixed height and width of 10M. The plane has an agent (or robot) in the point $(1, 2.2)$, and an electric outlet in the point $(8.2, 9.1)$. The plane has a series of obstacles.
Is there an algorithm to find the shortest path between the agent and the goal?
And if the point has a fixed wingspan? For example, that the space between O and N is smaller than the agent, and then the agent cannot cross?