# How can I calculate the shortest route between two 2d vector points with obstacles?

I have a 2D plane, with a fixed height and width of 10M. The plane has a 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 like polygons and implemented with a lot of points in the edges. But not have routes between two points, this is not like a map exactly. Is there an algorithm to find the shortest path between the Robot and theelectricOutlet?

And if the point has a fixed wingspan? For example, that the space between O and N is smaller than the robot, and then the robot cannot cross?

• This is a typical path-finding problem in robotics. However, I don't see any polygons in your picture or are you saying that the points in the picture represent the vertices of the polygon? – nbro Mar 19 '19 at 17:28
• Yes, I can not draw it because the lines extended to infinity – Tlaloc-ES Mar 19 '19 at 21:35
• If they extend to infinity, how do you expect to walk around them? – BlueRaja - Danny Pflughoeft Mar 19 '19 at 21:47
• in the draw, no the polygon, I used geogebra and I do not know how join two points with a line – Tlaloc-ES Mar 19 '19 at 22:09
• @Tlaloc-ES There are ways in GeoGebra to draw polygons. Have a look at the tutorials on the web. Anyway, so, what's your actual question? – nbro Mar 20 '19 at 15:24