Solution of Euclidean Shortest Path Problem Space with Obstacles

MA-ESPO method was put forward.Both in theory and in experiments,MA-ESPO can completely resolve 2D ESPO in raster method.Further more,obstacles,source shapes and destination shapes in MA-ESPO can be shapes in all form.It's the generalized solution of the method Dijkstra.MA-DTO(map algebra-distance transformation with obstacles) that actually generates all distance toward fountain of all points in the whole obstacle space was given at last.This method prepares the key work of finding shortest path for all points in the space,thereby comes to be the key technique for Voronoi generation of arbitrarily shaped figures in E2 obstacle space.