Patent ID: 8818712

Claim:
A method comprising: accessing a feasibility matrix comprising a plurality of feasibility values for a plurality of locations of an area, each feasibility value indicating navigability at a location, one or more non-navigable locations representing one or more barriers; determining a plurality of waypoints around the one or more barriers; calculating a cost matrix comprising a plurality of cost values, each cost value indicating a distance between two points of a set of points, the set of points comprising one or more start points, one or more end points, and the plurality of waypoints; applying Dijkstra's technique to a selected start point and a selected end point to yield a shortest length path between the selected start point and the selected end point; wherein the determining the plurality of waypoints includes: creating a plurality of candidate waypoints surrounding at least one barrier, the at least one barrier associated with one or more candidate start points; applying Dijkstra's technique to the one or more candidate start points to yield one or more paths; and discarding any candidate waypoints not used in any of the one or more paths; and wherein the creating the plurality of candidate waypoints includes: creating an initial set of candidate waypoints at an initial distance from the at least one barrier; and repeating the following for a predetermined number of iterations: creating a current set of candidate waypoints at a current distance from the at least one barrier, the current distance greater than a previous distance from the at least one barrier.