Left mouse click on the map to drop the green ball
Add/remove obstacles by pressing <SPACE>
Move the obstacle using the <g> key
<w> increase sphere of influence of an obstacle
<s> decrease sphere of influence of an obstacle
Potential Field Obstacle Avoidance
Robots need to be able to avoid obstacles and one such method is Potential Fields. Potential Fields Obstacle Avoidance is an adaptation of the movement of charged particles into the field of robotics where obstacles generate a 'rejecting' field and the goal generates an 'attractive' field. When these two fields are added together you get a field, indicating the robot's motion at that specific position on the map.