function pathFine=refinePath(uNodes,pathOrig,Obst)

%refine shortest path
pathFine=[];
iV=1;
while iV<length(pathOrig)-1,
    %start vertex
    iVold=iV;
    idV=pathOrig(iV);
    x0=uNodes(1,idV);
    y0=uNodes(2,idV);
    pathFine=[pathFine, idV];
    
    %init
    iVtest=iV+1;
    iVmax=iVtest+1;
    
    %check for possible refinement
    for iVtest=iVtest+1:length(pathOrig),
        
        %test vertex (for direct connection with start point)
        idVtest=pathOrig(iVtest);
        x1=uNodes(1,idVtest);
        y1=uNodes(2,idVtest);
        
        %check for possible collision with obstacles
    	obstID = checkEdge([x0, x1],[y0, y1],Obst);
        if ~obstID,
            iVmax=max(iVmax,iVtest);
        end
    end
    iV=iVmax-1;
end
pathFine=[pathFine, pathOrig(end)];