Instructions 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.
Let us assume the following: You want a robot that will fetch something from somewhere or should take something to someplace. In order for this mobile robot to know if it reached the goal, or to plan a path to the goal, it needs to know where it is.
This 'knowing where it is' is known as localization. One method used for localization is Particle Filters (Monte Carlo Localization) and this simulation implements particle filter localization.
The simulation consists of RED particles, a GREEN robot and BLUE landmarks (add landmarks by LEFT clicking on the map). By moving the robot around using the w,a,d keys you will see how the particles cluster around the robot, essentially showing where the robot is. (NOTE: If you do not add any landmarks the robot will not be able to localize.)