Shortest 2D path between two points avoiding defined zones

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

Answer 1

[Walter Roberson]

https://www.mathworks.com/help/images/ref/bwdistgeodesic.html