You have indicated in a comment a solution in the case that the polygon is not simple. The question remains unanswered in the case that the polygon is simple. The original question made no indication of this assumption, but it appears to have been the intent. So the question may be treated as follows:
"Suppose a simple polygon is given, along with two points, s and t, within the polygon. Is there a polygonal path from s to t that simultaneously minimizes the number of segments and amount of turning. Simple means homeomorphic to a disk; a polygonal path is a piecewise-linear curve; and turning is measured by the sum of the absolute values of the turning angles."
I believe the question as I have written above is appropriate for MathOverflow. I would have gladly edited this into the question long ago, but I don't have enough reputation to do so.
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