Java based portable simulator to visualize and understand the Robot Localization, Path planning, Path Smoothing and PID controller concepts. It is very flexible and easy to use. It supports multiple platforms.

The source code is available on Github where you can find latest development and up-to-date documentation.
Source :
Blog :

Note : Use jre 1.7 to run it.

1.Histogram Filter
2.Histogram Filter with Sonar Range Finder (Experimental)
3.Kalman Filter
4.Particles Filter
5.Path Planning
6.Path Smoothing
7.PID Controller

Path Planning Algorithms

3.A Star
4. Dynamic Programming
i. Euclidean Distance
ii. Euclidean Distance(+)
iii. Euclidean Distance(*)
iv. Euclidean Distance Squared
v. Manhattan Distance
vi. Chebyshev Distance


  • Histogram Filter
  • Histogram Filter with Sonar Range Finder (Experimental)
  • Kalman Filter
  • Particles Filter
  • Path Planner
  • Path Smoother
  • P.I.D Controller

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Additional Project Details

Intended Audience

Information Technology, Science/Research

User Interface

Java Swing

Programming Language