Visibility graph algorithms

It is to find the shortest distance using the visibility graph from an arbitrary point to the accident location. There are obstacles (island and aquaculture farms) in this area. The algorithms should be to avoid these obstacles. There are many aquaculture farms around the islands. I think the amount of computation is quite high. Reduce the amount of calculation by reflecting the dynamic programming algorithm. I'd like to apply on this project using the visibility graph algorithm. As you know, when the visibility graph is applied, it is required three kinds of nodes. - the first node is start location (=arbitrary point), - the second node is goal location (=location of accident sites), - the third node is obstacle nodes (=location of aquaculture farms and islands). I have already the second and third node data. Visibility graph algorithms can be found on git hub or google. There will be a myriad of edges connections. As like this, visualize the shortest distances from the starting point to the target point among the many edges. The green line below is a hand-drawn of what I might edge. I can't draw all the edges by hand. I think the amount of computation is quite high. Reduce the amount of calculation by reflecting the dynamic programming algorithm. I attached the whole data. please download it.