Interesting extend Algorthim A*

 https://www.redblobgames.com/

Circular Obstacle Pathfinding

https://redblobgames.github.io/circular-obstacle-pathfinding/

How to find an end point of an arc given another end point, radius, and arc direction?

https://math.stackexchange.com/questions/275201/how-to-find-an-end-point-of-an-arc-given-another-end-point-radius-and-arc-dire

Calculate the length of the arc

https://www.dummies.com/education/math/geometry/how-to-determine-the-length-of-an-arc-2/

http://paulbourke.net/geometry/pointlineplane/

http://paulbourke.net/geometry/circlesphere/