PythonRobotics

Python sample codes for robotics algorithm.

Requirements

• numpy

• scipy

• matplotlib

• pyReedsShepp (Only for reeds sheep path and RRTStarCar_reeds_sheep)

Path Planning

Path planning algorithm.

Model Predictive Trajectory Generator

This script is a path planning code with model predictive trajectory generator.

Path optimization sample:

Lookup table generation sample:

see:

• Optimal rough terrain trajectory generation for wheeled mobile robots

　

State Lattice Planning

This script is a path planning code with state lattice planning.

This code uses the model predictive trajectory generator to solve boundary problem.

Uniform polar sampling results:

Biased polar sampling results:

Lane sampling results:

RRT

Rapidly Randamized Tree Path planning sample.

This script is a simple path planning code with Rapidly-Exploring Random Trees (RRT)

see (in Japanese) :

PythonによるRapidly-Exploring Random Trees (RRT)パスプランニングサンプルプログラム - MyEnigma

RRTStar

This script is a path planning code with RRT *

• Incremental Sampling-based Algorithms for Optimal Motion Planning

RRT Car

Path planning for a car robot with RRT and dubins path planner.

RRTStarCar

Path planning for a car robot with RRT* and dubings path planner.

RRTStarCar_reeds_sheep

)

Path planning for a car robot with RRT* and reeds sheep path planner.

Dubins path planning

A sample code for Dubins path planning.

Dubins path - Wikipedia

Reeds Shepp planning

A sample code with Reeds Shepp path planning.

Closed Loop RRT*

A sample code with closed loop RRT*.

see:

• Motion Planning in Complex Environments using Closed-loop Prediction

• Real-time Motion Planning with Applications to Autonomous Urban Driving

• [1601.06326] Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction

Path tracking

Path tracking algorithm samples.

Pure pursuit tracking

Path tracking simulation with pure pursuit steering control and PID speed control.

Rear wheel feedback control

Path tracking simulation with rear wheel feedback steering control and PID speed control.

Linear–quadratic regulator (LQR) control

Path tracking simulation with LQR steering control and PID speed control.

License

MIT

Author

Atsushi Sakai (@Atsushi_twi)