shortest path selection for path planning in a obstacle environmet

hi

i have obstacle in 2-D space centered at (10,10) having radius of 2.5. to avoid hitting the obstacle i take 4 points by surroundings of the obstacle. p1=[10,5] p2=[15,10] p3=[5,10] p4=[10,15]

and P4 is the target point where robot has to stop

if robot is at position [5,5]

there are many ways to reach at target [10,15] like

robot to p1 to p2 to p4
robot to p1 to p3 to p4
robot to p3 to p4 
robot to p3 to p1 to p2 to p4

and there many too

but i have to select the path which takes minimum distance from the target. which is robot to p3 to p4.

can anyone knows the generalize code for achieving this task, kindly help me, i will be highly thankful to him

regards mudasir

Answer 1

[Image Analyst]

See Steve Eddins's 5 part blog series on finding the shortest path: http://blogs.mathworks.com/steve/2011/11/01/exploring-shortest-paths-part-1/