Algorithms for Robotics

This repository is my implementation of common algorithms used for autonomous navigation.

Path Planning

A*

References:

• Amit's A* pages

Lifelong Planning A*

References:

• Lifelong Planning A*

D* Lite

References:

• D* Lite

RRT

References:

• Rapidly-Exploring Random Trees: A New Tool for Path Planning

RRT*

References:

• Incremental Sampling-based Algorithms for Optimal Motion Planning

Controllers

Pure Pursuit

Stanley Controller

References:

• Stanley: The Robot that Won the DARPA Grand Challenge

LQR controller

References:

• A Tutorial On Autonomous Vehicle Steering Controller Design, Simulation and Implementation

MPC controller

References:

• Predictive Control for Linear and Hybrid Systems

Credits

This repository was inspired from PythonRobotics.