function planPathPRM(L1, L2, nbPoints)
    % Build PRM
    [q1q2_valid, obstacles] = buildPRM(L1, L2, nbPoints);

    % Define start and goal points
    start_point = [2000; 0];
    goal_point = [-2000; 0];

    % Convert q1q2_valid into 2D Cartesian coordinates
    points2D = [];
    for i = 1:size(q1q2_valid, 2)
        pos = dh2ForwardKinematics([q1q2_valid(1, i); q1q2_valid(2, i)], [0; 0], [L1; L2], [0; 0], 1)(1:2, end);
        points2D = [points2D; pos'];
    end

    % Create a connection matrix
    connectionMatrix = zeros(nbPoints, nbPoints);

    % Calculate distances and create connections
    for i = 1:size(q1q2_valid, 2)
        for j = 1:size(q1q2_valid, 2)
            if i ~= j
                pos1 = dh2ForwardKinematics([q1q2_valid(1, i); q1q2_valid(2, i)], [0; 0], [L1; L2], [0; 0], 1)(1:2, end);
                pos2 = dh2ForwardKinematics([q1q2_valid(1, j); q1q2_valid(2, j)], [0; 0], [L1; L2], [0; 0], 1)(1:2, end);
                if ~isLineIntersectingObstacle(pos1, pos2, obstacles)
                    connectionMatrix(i, j) = 1;
                    connectionMatrix(j, i) = 1; % Ensure bidirectional connection
                end
            end
        end
    end

    % Create the visibility graph
    [nbNodes, visibilityGraph] = createVisibilityGraph(connectionMatrix, points2D);

    % Find the nearest points in q1q2_valid to the start and goal points
    start_index = findNearestPoint(start_point, points2D);
    goal_index = findNearestPoint(goal_point, points2D);

    % Find the shortest path using Dijkstra's algorithm
    [distanceToNode, parentOfNode, nodeTrajectory] = dijkstra(nbNodes, visibilityGraph);

    % Plot the path in Cartesian space
    subplot(1, 2, 2);
    hold on;
    for i = 1:length(nodeTrajectory) - 1
        pos1 = points2D(nodeTrajectory(i), :);
        pos2 = points2D(nodeTrajectory(i + 1), :);
        plot([pos1(1), pos2(1)], [pos1(2), pos2(2)], 'b', 'LineWidth', 2); % Plot path in blue
    end

    % Plot the start and goal points
    plot(start_point(1), start_point(2), 'ro', 'MarkerSize', 10); % Red circle for start
    plot(goal_point(1), goal_point(2), 'go', 'MarkerSize', 10); % Green circle for goal

    title('Cartesian Space with Path');
    legend('Obstacles', 'Path', 'Start', 'Goal');
    hold off;
end