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<h1>Welcome to PythonRobotics’s documentation!<a class="headerlink" href="#welcome-to-pythonrobotics-s-documentation" title="Permalink to this headline"></a></h1>
<p>Python codes for robotics algorithm. The project is on <a class="reference external" href="https://github.com/AtsushiSakai/PythonRobotics">GitHub</a>.</p>
<p>This is a Python code collection of robotics algorithms.</p>
<p>Features:</p>
<ol class="arabic simple">
<li><p>Easy to read for understanding each algorithm’s basic idea.</p></li>
<li><p>Widely used and practical algorithms are selected.</p></li>
<li><p>Minimum dependency.</p></li>
</ol>
<p>See this paper for more details:</p>
<ul class="simple">
<li><p><a class="reference external" href="https://arxiv.org/abs/1808.10703">[1808.10703] PythonRobotics: a Python code collection of robotics
algorithms</a> (<a class="reference external" href="https://github.com/AtsushiSakai/PythonRoboticsPaper/blob/master/python_robotics.bib">BibTeX</a>)</p></li>
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<li class="toctree-l1"><a class="reference internal" href="getting_started.html">Getting Started</a><ul>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#what-is-this">What is this?</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#requirements">Requirements</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#how-to-use">How to use</a></li>
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<li class="toctree-l1"><a class="reference internal" href="modules/introduction.html">Introduction</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/introduction.html#definition-of-robotics">Definition Of Robotics</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/introduction.html#history-of-robotics">History Of Robotics</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/introduction.html#application-of-robotics">Application Of Robotics</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/introduction.html#software-for-robotics">Software for Robotics</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/introduction.html#id1">Software for Robotics</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/introduction.html#python-for-robotics">Python for Robotics</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/introduction.html#learning-robotics-algorithms">Learning Robotics Algorithms</a></li>
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<li class="toctree-l2"><a class="reference internal" href="modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization.html">Extended Kalman Filter Localization</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/localization/ensamble_kalman_filter_localization_files/ensamble_kalman_filter_localization.html">Ensamble Kalman Filter Localization</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/localization/unscented_kalman_filter_localization/unscented_kalman_filter_localization.html">Unscented Kalman Filter localization</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/localization/histogram_filter_localization/histogram_filter_localization.html">Histogram filter localization</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/localization/particle_filter_localization/particle_filter_localization.html">Particle filter localization</a></li>
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<li class="toctree-l1"><a class="reference internal" href="modules/mapping/mapping.html">Mapping</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/mapping/gaussian_grid_map/gaussian_grid_map.html">Gaussian grid map</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/mapping/ray_casting_grid_map/ray_casting_grid_map.html">Ray casting grid map</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/mapping/lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial.html">Lidar to grid map</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/mapping/point_cloud_sampling/point_cloud_sampling.html">Point cloud Sampling</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/mapping/k_means_object_clustering/k_means_object_clustering.html">k-means object clustering</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/mapping/circle_fitting/circle_fitting.html">Object shape recognition using circle fitting</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/mapping/rectangle_fitting/rectangle_fitting.html">Object shape recognition using rectangle fitting</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/mapping/normal_vector_estimation/normal_vector_estimation.html">Normal vector estimation</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/slam/slam.html">SLAM</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/slam/iterative_closest_point_matching/iterative_closest_point_matching.html">Iterative Closest Point (ICP) Matching</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/slam/ekf_slam/ekf_slam.html">EKF SLAM</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/slam/FastSLAM1/FastSLAM1.html">FastSLAM1.0</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/slam/FastSLAM2/FastSLAM2.html">FastSLAM 2.0</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/slam/graph_slam/graph_slam.html">Graph based SLAM</a></li>
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<li class="toctree-l1"><a class="reference internal" href="modules/path_planning/path_planning.html">Path Planning</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/dynamic_window_approach/dynamic_window_approach.html">Dynamic Window Approach</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/bugplanner/bugplanner.html">Bug planner</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/grid_base_search/grid_base_search.html">Grid based search</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/model_predictive_trajectory_generator/model_predictive_trajectory_generator.html">Model Predictive Trajectory Generator</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/state_lattice_planner/state_lattice_planner.html">State Lattice Planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/prm_planner/prm_planner.html">Probabilistic Road-Map (PRM) planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/visibility_road_map_planner/visibility_road_map_planner.html">Visibility Road-Map planner</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/vrm_planner/vrm_planner.html">Voronoi Road-Map planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/rrt/rrt.html">Rapidly-Exploring Random Trees (RRT)</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/cubic_spline/cubic_spline.html">Cubic spline planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/bspline_path/bspline_path.html">B-Spline planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/clothoid_path/clothoid_path.html">Clothoid path planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/eta3_spline/eta3_spline.html">Eta^3 Spline path planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/bezier_path/bezier_path.html">Bezier path planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/quintic_polynomials_planner/quintic_polynomials_planner.html">Quintic polynomials planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/dubins_path/dubins_path.html">Dubins path planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/reeds_shepp_path/reeds_shepp_path.html">Reeds Shepp planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/lqr_path/lqr_path.html">LQR based path planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/hybridastar/hybridastar.html">Hybrid a star</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/frenet_frame_path/frenet_frame_path.html">Optimal Trajectory in a Frenet Frame</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_planning/coverage_path/coverage_path.html">Coverage path planner</a></li>
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<li class="toctree-l1"><a class="reference internal" href="modules/path_tracking/path_tracking.html">Path Tracking</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/path_tracking/pure_pursuit_tracking/pure_pursuit_tracking.html">Pure pursuit tracking</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_tracking/stanley_control/stanley_control.html">Stanley control</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_tracking/rear_wheel_feedback_control/rear_wheel_feedback_control.html">Rear wheel feedback control</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_tracking/lqr_steering_control/lqr_steering_control.html">Linear–quadratic regulator (LQR) steering control</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_tracking/lqr_speed_and_steering_control/lqr_speed_and_steering_control.html">Linear–quadratic regulator (LQR) speed and steering control</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_tracking/model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control.html">Model predictive speed and steering control</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/path_tracking/cgmres_nmpc/cgmres_nmpc.html">Nonlinear Model Predictive Control with C-GMRES</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/arm_navigation/arm_navigation.html">Arm Navigation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/arm_navigation/planar_two_link_ik.html">Two joint arm to point control</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/arm_navigation/n_joint_arm_to_point_control.html">N joint arm to point control</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/arm_navigation/obstacle_avoidance_arm_navigation.html">Arm navigation with obstacle avoidance</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/aerial_navigation/aerial_navigation.html">Aerial Navigation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/aerial_navigation/drone_3d_trajectory_following/drone_3d_trajectory_following.html">Drone 3d trajectory following</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/aerial_navigation/rocket_powered_landing/rocket_powered_landing.html">Rocket powered landing</a></li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="modules/bipedal/bipedal.html">Bipedal</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/bipedal/bipedal_planner/bipedal_planner.html">Bipedal Planner</a></li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="modules/control/control.html">Control</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/control/inverted_pendulum_control/inverted_pendulum_control.html">Inverted Pendulum Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/control/move_to_a_pose_control/move_to_a_pose_control.html">Move to a Pose Control</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/utils/utils.html">Utilities</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/utils/plot/plot.html">Plotting Utilities</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/appendix/appendix.html">Appendix</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/appendix/Kalmanfilter_basics.html">KF Basics - Part I</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/appendix/Kalmanfilter_basics_2.html">KF Basics - Part 2</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="how_to_contribute.html">How To Contribute</a><ul>
<li class="toctree-l2"><a class="reference internal" href="how_to_contribute.html#adding-a-new-algorithm-example">Adding a new algorithm example</a></li>
<li class="toctree-l2"><a class="reference internal" href="how_to_contribute.html#reporting-and-fixing-a-defect">Reporting and fixing a defect</a></li>
<li class="toctree-l2"><a class="reference internal" href="how_to_contribute.html#adding-missed-documentations-for-existing-examples">Adding missed documentations for existing examples</a></li>
<li class="toctree-l2"><a class="reference internal" href="how_to_contribute.html#supporting-this-project">Supporting this project</a></li>
</ul>
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</ul>
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