# How can I calculate the shortest path between two 2d vector points in an environment with obstacles?

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?