The talk deals with the use of the ideas of two optimization methods, namely, the Method of Orienting Curves (introduced by H. X. Phu, 1987) and the Direct Multiple Shooting Method (introduced by H. G. Bock, 1984) for solving optimal control problems with state constraints, for finding shortest paths between two points inside a domain in 2D or in 3D. New algorithms and their implementations are presented. |