In this work we consider the problem of the shortest path in Euclidean space in the presence of convex polyhedral forbidden regions. A travel path is to be selected to minimize the travel distance where direct path is prohibited in the presence of forbidden or no-fly regions. A solution is presented by a geometrical algorithm for polygonal barriers. The procedure iterates by increasing the number of vertices of the barrier to generalize the solution to circular barriers. This research was motivated by a practical shortest path problem for goods delivery in the absence of direct paths using Unmanned Aerial Vehicles (UAV), commonly referred to as drones.
Read the open-access article in the journal IIE Annual Conference: