我们将会在下面场景中创建有各种不同尺寸的15个粒子和三个障碍物。在场景中的定位器是目标，粒子跟随这一个目标。
We will create the scene shown in the following image, there are 15 particles and three obstacles of various dimension.
为了尽量减少可行区域由于障碍物建模造成的损失，提出了采用改进的栅格法进行建模，该方法较全面地考虑了障碍物的外形尺寸。
The paper proposes improved grids method in order to increase area movement of the robot, according to the shape and size of the obstacle.
并通过局部网格加密的方法，解决了粗糙网格划分下无法识别较小尺寸障碍物的困难，以及保证了运算精度。
Ensure the accuracy of computing, using the local mesh refinement approach, which solute the difficult of coarse mesh can not identify the smaller size barrier.
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