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Probabilistic roadmaps
Probabilistic roadmaps
Written for Computational Geometry (ECS 226)
Code C++/OpenGL/wxWidgets
Links Final report (PDF)
Video 
Probabilistic roadmaps are used to find collision-free paths through obstacle courses in high-dimensional spaces. My implementation was designed to allow easy testing of widely different types of objects, creating paths for deformable ellipses and articulated arms consisting of an arbitary number of joints. For this project, I implemented the basic algorithm and a few variants to fix some of the original algorithm's shortcomings.

The image depicts a collision-free path from the blue arm to the red arm around the obstacles, which are represented by the black line segments.