CVS repository: https://russ.yanofsky.org/viewvc.py/quickman
Quickman was an assignment for a robotics class that I worked on with 2 other people. The program drives a Pioneer mobile robot from a starting point to an ending point in a room filled with obstacles, trying to avoid collisions. The obstacle shapes and positions are given as input, and then the program plans an optimal path and follows it. Quickman is written in C++ and makes extensive use of the STL.
Quickman uses a commercial but freely available library called Saphira that comes with a graphical robot simulator. There are makefiles for GCC under Linux and Solaris and a Metrowerks Codewarrior project file for windows. It uses features of C++ not supported by MS Visual C++ 6.