WebSim2D - Advanced 2D Robotics Simulator

// Advanced robot control code
function exploreEnvironment() {
  if (goal) {
    // Calculate angle to goal
    const dx = goal.x - robotX;
    const dy = goal.y - robotY;
    const angleToGoal = Math.atan2(dy, dx);
    
    // Calculate difference between current angle and angle to goal
    let angleDiff = angleToGoal - robotAngle;
    
    // Normalize angle difference to [-PI, PI]
    while (angleDiff > Math.PI) angleDiff -= 2 * Math.PI;
    while (angleDiff < -Math.PI) angleDiff += 2 * Math.PI;
    
    if (Math.abs(angleDiff) > 0.1) {
      // Turn towards goal
      robot.setVelocity(0, angleDiff > 0 ? 0.5 : -0.5);
    } else if (!robot.detectObstacle()) {
      // Move towards goal
      robot.setVelocity(0.5, 0);
    } else {
      // Obstacle avoidance
      robot.setVelocity(0, -0.5);
    }
  } else {
    // No goal, just explore
    if (!robot.detectObstacle()) {
      robot.setVelocity(0.5, 0);
    } else {
      robot.setVelocity(0, -0.5);
    }
  }
}

// Start exploration for 10 seconds
robot.run(exploreEnvironment, 10000);
Add Obstacle
Add Goal
Clear World