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I'm having trouble understanding how to use geometric map in path planning task using algorithms like potential field or elastic band which I always see use occupancy grid. By geometric map I mean a set of polygons with x-y coordinates representing obstacles and connected line segments representing route to go, which is known beforehand but it can happen that some obstacles can be added into the map during the ride so I need to replan the route based on existing obstacles and added obstacles. I don't know for example, how to select obstacles near current position or calculate distance to the nearest obstacle. Shall I use some kind of kd-tree or interval-tree for polygon storage or shall be the geometric map converted somehow into occupancy grid? Thank you for any help

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