The task of path planning in mapped environments is well-known in robotics. Given an object
and a set of obstacles located in space, the problem is to find a shortest path for the object from
the initial position to the goal position which avoids collisions with obstacles along the way. In
this paper, we will present a path planning algorithm to solve the find-path problem. The
advantages of this algorithm are that it is quite fast and it finds the shortest path which avoids
obstacles generously rather than avoiding them barely.