Potential Field Path Planning Simulation

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.


QuadTree Path Finding Simulator

Mobile robots generally need to move from a START position (0) to a GOAL position (1) in order to accomplish tasks.

The simulator makes use of the Quad Tree method to create a distance graph and then this distance graph is used by the A* (A-star) path finding algorithm to find the best path.


Click on the map to create an obstacle (Pink square = obstacle, Green square = no obstacle)
Use the 'g' key to change the GOAL position
Use the 's' key to change the START position


The map's grid can be expanded to accommodate a larger map. For this simulation, however, it is fixed to an 8x8 array.

Although the Quad Tree method is applied using a grid, the robot can move freely around inside each grid and is not bound by the center point of any quad.

The numbers next to each Node ID is the values used by the A-star algorithm to determine the best path. The tutorial will follow soon explaining all the detail.