For a two-dimensional configuration space, implement the attractive/repulsive potential function of your choice.
On your web page, show at least two movies - one that illustrates a successful planning episode, and one that fails due to local minima. Include on your web page a brief description (pdf file or html ONLY) of your approach. This report should include all relevant equations and algorithm descriptions, along with a description of any parameters used by your algorithm.
In addition to the required explanations, explain why you chose this particular potential function algorithm.