Connecting points and finding the best possible path

I have some code that randomly generates nodes for routing a UAV path. The code generates genuine and malicious nodes where genuine nodes are "refill stations" for the uav and the malicious nodes are areas to avoid. I was wondering if there is a way to connect the random points so that it can find the best and shortest path while avoding the malicious nodes. Here's what I have so far. Some parts may be redundant, but I was just focusing on getting it to work

%Generating node locations to help aid in the routing of a UAV

%Genuine Nodes represent refill stations

%Malicious Nodes represent areas to avoid

clc;

clear all;

close all;

no_nodes = input('Enter the number of nodes: ');

no_nodes_m = input('Enter the number of malicious nodes: ');

network_length = input('Enter the length of the network: ');

network_width = input('Enter the width of the network: ');

for i = 1:no_nodes

x_loc(i) = network_length*rand;

y_loc(i) = network_width*rand;

%nodes_id(i) = i;

plot(x_loc(i),y_loc(i),'b^','linestyle','none')

hold on

xlabel('Network Length');

ylabel('Network Height');

grid on

pause(.5);

end

for j = 1:no_nodes_m

x_loc_m(j) = network_length*rand;

y_loc_m(j) = network_width*rand;

%nodes_id_m(j) = j;

plot(x_loc_m(j),y_loc_m(j),'ro','linestyle','none')

hold on;

xlabel('Network Length');

ylabel('Network Height');

grid on

pause(.5);

end

source = rem(round((no_nodes+no_nodes_m)*rand),no_nodes);

if source == 0

source = 15;

end

destination = rem(round((no_nodes+no_nodes_m)*rand),no_nodes);

if destination == 0

destination = 16;

end

figure(1)

plot(x_loc(source),y_loc(source),'b^','linewidth',2);

text(x_loc(source),y_loc(source), 'SRC')

hold on

plot(x_loc(destination),y_loc(destination),'g^','linewidth',2);

text(x_loc(destination),y_loc(destination), 'Destination')

% Connecting source and destination

source_loc = [x_loc(source), y_loc(source)];

destination_loc = [x_loc(destination), y_loc(destination)];

p1 = [source_loc(1) destination_loc(1)];

p2 = [source_loc(2) destination_loc(2)];

x = [p1(1) p2(1)];

y = [p1(2) p2(2)];

plot([x(1) y(1)],[x(2) y(2)])