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.
"Path planning algorithm for a mobile robot*", Proc. SPIE 1468, Applications of Artificial Intelligence IX, (1 March 1991); doi: 10.1117/12.45454; https://doi.org/10.1117/12.45454