Welcome to PythonRobotics’s documentation!

Python codes for robotics algorithm. The project is on GitHub.

This is a Python code collection 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 paper for more details:

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

Contents

• Getting Started
  • What is this?
  • Requirements
  • How to use
• Introduction
  • Definition Of Robotics
  • History Of Robotics
  • Application Of Robotics
  • Software for Robotics
  • Software for Robotics
  • Python for Robotics
  • Learning Robotics Algorithms
• Localization
  • Extended Kalman Filter Localization
  • Ensamble Kalman Filter Localization
  • Unscented Kalman Filter localization
  • Histogram filter localization
  • Particle filter localization
• Mapping
  • Gaussian grid map
  • Normal Distance Transform (NDT) map
  • Ray casting grid map
  • Lidar to grid map
  • Point cloud Sampling
  • k-means object clustering
  • Object shape recognition using circle fitting
  • Object shape recognition using rectangle fitting
  • Normal vector estimation
• SLAM
  • Iterative Closest Point (ICP) Matching
  • EKF SLAM
  • FastSLAM1.0
  • FastSLAM 2.0
  • Graph based SLAM
• Path Planning
  • Dynamic Window Approach
  • Bug planner
  • Grid based search
  • Model Predictive Trajectory Generator
  • State Lattice Planning
  • Probabilistic Road-Map (PRM) planning
  • Visibility Road-Map planner
  • Voronoi Road-Map planning
  • Rapidly-Exploring Random Trees (RRT)
  • Cubic spline planning
  • B-Spline planning
  • Catmull-Rom Spline Planning
  • Clothoid path planning
  • Eta^3 Spline path planning
  • Bezier path planning
  • Quintic polynomials planning
  • Dubins path planning
  • Reeds Shepp planning
  • LQR based path planning
  • Hybrid a star
  • Optimal Trajectory in a Frenet Frame
  • Coverage path planner
• Path Tracking
  • Pure pursuit tracking
  • Stanley control
  • Rear wheel feedback control
  • Linear–quadratic regulator (LQR) steering control
  • Linear–quadratic regulator (LQR) speed and steering control
  • Model predictive speed and steering control
  • Nonlinear Model Predictive Control with C-GMRES
• Arm Navigation
  • Two joint arm to point control
  • N joint arm to point control
  • Arm navigation with obstacle avoidance
• Aerial Navigation
  • Drone 3d trajectory following
  • Rocket powered landing
• Bipedal
  • Bipedal Planner
• Control
  • Inverted Pendulum Control
  • Move to a Pose Control
• Utilities
  • Plotting Utilities
• Appendix
  • Steering Motion Model
  • KF Basics - Part I
  • KF Basics - Part 2
• How To Contribute
  • Adding a new algorithm example
  • Reporting and fixing a defect
  • Adding missed documentations for existing examples
  • Supporting this project

Indices and tables

• Index

• Module Index

• Search Page