Polygon Pathfinding Library

Development of a specialized library for finding the shortest paths in continuous 2D spaces with polygonal obstacles. The core algorithm is based on building a Visibility Graph followed by an A* search. Features included support for non-zero robot size via polygon expansion (Minkowski sum approximation), path smoothing using splines, and optimization for real-time applications in robotics and strategy games. This work laid the foundation for modern autonomous navigation modules.