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.