This article presents a novel offline path planner method to yield a collision-free trajectory among groups of obstacles in a static workspace. It enables a single holonomic point robot acting in a static environment including a fixed initial and goal configurations to achieve its goal toward a collision-free trajectory. In developing our novel path planner, we focused to elevate features that help the planner to route in a wide variety of different situations in regards to lowering the processing time needed for analyzing the workspace and determination of ultimate trajectory. Unlike to some other planners that are able to be applied on some certain obstacle shales such as polygonal, our planner is skillful enough to analyze any types of obstacles, such as circular, spiral, and curved edged obstacles successfully.

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