If you have not taken the course Computational Geometry, you are encouraged to study by yourself some fundamental concepts, algorithms and data structures in the field. The chapters below refer to the following textbook:

M. de Berg, M. van Kreveld, M. Overmars, and O. Schwarzkopf, Computational Geometry: Algorithms and Applications
2nd Edition, Springer, 2000.

Reading Chapters 1 and 2 is a must. In class it will be assumed that you are familiar with the following: polygon, convexity, convex-hull, plane sweep, DCEL.

Later on, you may find that concepts from the following chapters are helpful:
Chapter 6 - trapezoidal decomposition and point location
Chapter 8 - arrangements of lines

Also:
Chapter 3 - triangulations

There is a chapter in the book dedicated to motion planning. The contents of this chapter will be covered in class.