The application demonstrates the predictive control algorithm of the robot arm in the presence of obstacles and restrictions. Just let the program randomly arrange the red circles. The purpose of the algorithm - to move the red circles in the target positions (marked in green), avoiding collisions with other red circles, as well as preventing them from moving beyond the screen. You can also drag the red circles in any position to complicate the task of the robot and see how he comes out of difficult situations.
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