Handout: Mon Nov 5th
Due: Mon Nov 26th

Implement a PRM planner for a multi-link (at least four) robot arm. The arm can be a simple planar arm (which will simplify the graphics), or a 3D arm. The arm can be composed of line segments (which will make collision checking easier) rather than finite volume links. All you need to do is write code to detect the intersection between line segments and polygons. If you want, you can use collision checking software that is available on the web.

On your web page, you should show the following:

• A figure that shows the environment (without the robot),
• A figure that shows the robot at all of the randomly sampled configurations
• A movie of the robot executing a plan

Example Solution
Example Solution (Implements an RRT)