Voronoi Diagram
https://en.wikipedia.org/wiki/Voronoi_diagram
Apparently, you can use this for shortest path planning.
F1TENTH
I was introduced to this when trying to generate centerlines. https://gis.stackexchange.com/questions/269238/create-a-center-line-between-2-polyline-qgis
However, ended up going with Euclidean Distance Transform.