Python codes and textbook for robotics algorithm.

• What is this?
• Requirements
• Documentation
• How to use
• Localization
  • Extended Kalman Filter localization
  • Particle filter localization
  • Histogram filter localization
• Mapping
  • Gaussian grid map
  • Ray casting grid map
  • Lidar to grid map
  • k-means object clustering
  • Rectangle fitting
• SLAM
  • Iterative Closest Point (ICP) Matching
  • FastSLAM 1.0
• Path Planning
  • Dynamic Window Approach
  • Grid based search
    • Dijkstra algorithm
    • A* algorithm
    • D* algorithm
    • D* Lite algorithm
    • Potential Field algorithm
    • Grid based coverage path planning
    • Particle Swarm Optimization (PSO)
  • State Lattice Planning
    • Biased polar sampling
    • Lane sampling
  • Probabilistic Road-Map (PRM) planning
  • Rapidly-Exploring Random Trees (RRT)
    • RRT*
    • RRT* with reeds-shepp path
    • LQR-RRT*
  • Quintic polynomials planning
  • Reeds Shepp planning
  • LQR based path planning
  • Optimal Trajectory in a Frenet Frame
• Path Tracking
  • move to a pose control
  • Stanley control
  • Rear wheel feedback control
  • Linear–quadratic regulator (LQR) speed and steering control
  • Model predictive speed and steering control
  • Nonlinear Model predictive control with C-GMRES
• Arm Navigation
  • N joint arm to point control
  • Arm navigation with obstacle avoidance
• Aerial Navigation
  • drone 3d trajectory following
  • rocket powered landing
• Bipedal
  • bipedal planner with inverted pendulum
• License
• Use-case
• Contribution
• Citing
• Support
• Sponsors
  • JetBrains
  • 1Password
• Authors

PythonRobotics is a Python code collection and a textbook of robotics algorithms.

Features:

1. Easy to read for understanding each algorithm's basic idea.

2. Widely used and practical algorithms are selected.

3. Minimum dependency.

See this documentation

• Getting Started — PythonRobotics documentation

or this Youtube video:

• PythonRobotics project audio overview

or this paper for more details:

• [1808.10703] PythonRobotics: a Python code collection of robotics algorithms (BibTeX)