Where can I find a general implementation of Canny's Roadmap Algorithm(or Silhouette Method) for Robot Motion Planning?
Well, you probably can't. The reason is Canny's follows 3 basic steps.
- Collect a bunch of points in the environment and connect all the points that have a free path between them
- Connect start and end to this graph
- Do some kind of path planner on this graph, e.g., Dijkstra.
So, for different evironments, step 1 takes wildly different forms. In 2D, this might be a visibility graph. In 3D, there isn't really a good algorithm for constructing the graph so you might sample. In higher dimensions, it's even worse.
But, if you are comfortable implementing Dijkstra, then implementing 1 and 2 are pretty close in difficulty. You may have to do this homework assignment on your own.