Start, pause, and reset do exactly what you think. You can also use spacebar to pause.
Random maze generates a random maze to use. You can modify the density of walls. The preset options load handmade mazes.
Use WASD to control the robot. Collision detection with walls is *very* rudimetary.
After stopping the simulation, you can view any individual frame by clicking it in the log below
You can also use the left and right arrow keys to navigate, 0 to jump to the first frame, and 9 to jump to the last.
|Frame #||Actual Position||Predicted Position||Error||Error Color||Display Options:||LIDAR||Particles||Particle LIDAR|
|Cell Width||The width (in pixels) of each cell in the maze.|
|Cell Height||The height (in pixels) of each cell in the maze.|
|Maze Width||The width of the maze, in number of cells.|
|Maze Height||The height of the maze, in number of cells.|
|Random Maze Density||The probability of each cell being a wall when generating a random maze. Should be in the range [0,1].|
|Starting Location||The starting cell of the robot. The first entry is the row, and the second entry is the column.|
|Tick Rate||The number of ticks per second.|
|LIDAR Noise||Variance of the noise added to LIDAR measurements.|
|Speed||Speed of the robot, in pixels per second.|
|Turn Rate||Turn rate of the robot, in degrees per second.|
|LIDAR Resolution||Number of points the LIDAR measures. Must be at least 2.|
|LIDAR FOV||The field of view of the LIDAR, in degrees.|
|Particle Filter Properties|
|Number of Particles||How many particles to use in the particle filter.|
|Position Noise||Variance of the noise added to the position of particles during resampling.|
|Orientation Noise||Variance of the noise added to the orientation of particles during resampling.|
|Exploration Percentage||Fraction of particles randomly sampled each iteration. Should be in the range [0,1].|
|Frame #||Actual Position||Predicted Position||Error||Error Color|