TrackBot is completely surrounded by obstacles but escapes when an opening appears to the side. This (fully autonomous) example demonstrates the ability of the ring of obstacle sensors built into TrackBot to detect obstacles 360 degrees around the robot. This code, by Shawn Silverman, is available at www.java.net in the robotics community, incubator projects.
This is TrackBot V1 code with a JStamp application brain.
JavaRobotics 4 years ago