function planPathPRM()
    % Load the data from the previously generated PRM
    data = load('robot_arm_data.mat');
    q1q2_valid = data.q1q2_valid;
    connectionMap = data.connectionMap;

    % Parameters for the robot arm (you may need to adjust these)
    L1 = 2; % Length of the first link in mm
    L2 = 1; % Length of the second link in mm

    % Add Start and Goal points
    S = [2; 0];
    G = [-2; 0];

    % Create visibility graph including Start and Goal points
    [visibilityGraph, pointMap] = createVisibilityGraph(q1q2_valid, S, G, L1, L2);

    % Find the shortest path using Dijkstra algorithm
    path = dijkstra(visibilityGraph, pointMap, S, G);

    % Plot the path
    plotPath(path, q1q2_valid, S, G);
end