I've put the simulator up on the website if anyone is interested. You can
draw obstacles into the world, change the start angle of the robot, the
angle it turns by when detecting an obstacle and the angular error.
The robot can detect when it's stuck in a corner and will execute a long
turn which can also be specified as the 'corner angle'.
Dave Everett
Mowbot Project Website
http://www.idx.com.au/~deverett/mowbot/index.htm