This application shows the final result for finding the shortest path between two points for a convex or non-convex robot avoiding collision with obstacles. The visibility graph is shown in red, the robot polygon in yellow, the C-Obstacles in blue, and the obstacles in white.

  • Drag and drop the points in space, they represent the starting and end point.
  • Draw a robot polygon in the blue canvas.
  • Click in the Shortest Path button to see the shortest path between the two points.

Draw your robot polygon below