Shortest 2D path between two points avoiding defined zones

2021 4 20
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更新时间：2021 4 20
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Hello,
I am working on a way to build the shortest possible path between two points in 2D (x,y). This path shall be discrete points used to avoid specific rectangle zones specified by 4 points (the vertices).
Does anyone knows about previous work on the subject?
Thankssss :D

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