In 2012 I took a AI for Robots program in Udacity. As a result I built a simple simulator that runs in an iPad using Codea, a LUA development environment. It follows very closely the python AI for tobots Udacity course program but added better visualization and interactivity. In the screen the car moves the wheels and you may see in the steering wheel how it moves them. Also there is a "error" circle and small blue particles that represent the Particle Filter. The path is computed (green circles), smoothed (yellow circles and red line and followed. The results are easier to see than just looking at numbers. The code may be found in Code for the Codea LUA program . The program does planning, smoothes the track and then tries to follow it. You may select just plain GPS (sucks), GPS with a particle filter, a limited 3 directions LIDAR with particle filter and a GPS+LIDAR with particle filter. The progam allows to change the square and world side, define noises, LIDAR...