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Atsushi Sakai
2019-01-30 16:11:26 +09:00
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AerialNavigation/rocket_powered_landing/rocket_powered_landing.ipynb
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README.md
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@@ -334,7 +334,7 @@ Ref:
### RRT\*
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathPlanning/RRTstar/animation.gif)
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTstar/animation.gif)
This is a path planning code with RRT\*
@@ -348,7 +348,7 @@ Ref:
### RRT\* with reeds-sheep path
![Robotics/animation.gif at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathPlanning/RRTStarReedsShepp/animation.gif))
![Robotics/animation.gif at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTStarReedsShepp/animation.gif))
Path planning for a car robot with RRT\* and reeds sheep path planner.
@@ -358,7 +358,7 @@ This is a path planning simulation with LQR-RRT\*.
A double integrator motion model is used for LQR local planner.
![LQRRRT](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathPlanning/LQRRRTStar/animation.gif)
![LQRRRT](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/LQRRRTStar/animation.gif)
Ref:
@@ -371,7 +371,7 @@ Ref:
Motion planning with quintic polynomials.
![2](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathPlanning/QuinticPolynomialsPlanner/animation.gif)
![2](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/QuinticPolynomialsPlanner/animation.gif)
It can calculate 2D path, velocity, and acceleration profile based on quintic polynomials.
@@ -383,7 +383,7 @@ Ref:
A sample code with Reeds Shepp path planning.
![RSPlanning](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathPlanning/ReedsSheppPath/animation.gif?raw=true)
![RSPlanning](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/ReedsSheppPath/animation.gif?raw=true)
Ref:
@@ -398,12 +398,12 @@ Ref:
A sample code using LQR based path planning for double integrator model.
![RSPlanning](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathPlanning/LQRPlanner/animation.gif?raw=true)
![RSPlanning](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/LQRPlanner/animation.gif?raw=true)
## Optimal Trajectory in a Frenet Frame
![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathPlanning/FrenetOptimalTrajectory/animation.gif)
![3](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/FrenetOptimalTrajectory/animation.gif)
This is optimal trajectory generation in a Frenet Frame.
@@ -424,7 +424,7 @@ Ref:
This is a simulation of moving to a pose control
![2](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/move_to_pose/animation.gif)
![2](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/move_to_pose/animation.gif)
Ref:
@@ -435,7 +435,7 @@ Ref:
Path tracking simulation with Stanley steering control and PID speed control.
![2](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/stanley_controller/animation.gif)
![2](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/stanley_controller/animation.gif)
Ref:
@@ -449,7 +449,7 @@ Ref:
Path tracking simulation with rear wheel feedback steering control and PID speed control.
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/rear_wheel_feedback/animation.gif)
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/rear_wheel_feedback/animation.gif)
Ref:
@@ -460,7 +460,7 @@ Ref:
Path tracking simulation with LQR speed and steering control.
![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/lqr_speed_steer_control/animation.gif)
![3](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/lqr_speed_steer_control/animation.gif)
Ref:
@@ -471,7 +471,7 @@ Ref:
Path tracking simulation with iterative linear model predictive speed and steering control.
<img src="https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/model_predictive_speed_and_steer_control/animation.gif" width="640">
<img src="https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/model_predictive_speed_and_steer_control/animation.gif" width="640">
Ref:
@@ -481,7 +481,7 @@ Ref:
A motion planning and path tracking simulation with NMPC of C-GMRES
![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/cgmres_nmpc/animation.gif)
![3](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/cgmres_nmpc/animation.gif)
Ref:
@@ -498,7 +498,7 @@ This is a interactive simulation.
You can set the goal position of the end effector with left-click on the ploting area.
![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/ArmNavigation/n_joint_arm_to_point_control/animation.gif)
![3](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/n_joint_arm_to_point_control/animation.gif)
In this simulation N = 10, however, you can change it.
@@ -506,7 +506,7 @@ In this simulation N = 10, however, you can change it.
Arm navigation with obstacle avoidance simulation.
![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/ArmNavigation/arm_obstacle_navigation/animation.gif)
![3](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/arm_obstacle_navigation/animation.gif)
# Aerial Navigation
@@ -515,13 +515,13 @@ Arm navigation with obstacle avoidance simulation.
This is a 3d trajectory following simulation for a quadrotor.
![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/AerialNavigation/drone_3d_trajectory_following/animation.gif)
![3](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/AerialNavigation/drone_3d_trajectory_following/animation.gif)
## rocket powered landing
This is a 3d trajectory generation simulation for a rocket powered landing.
![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/AerialNavigation/rocket_powered_landing/animation.gif)
![3](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/AerialNavigation/rocket_powered_landing/animation.gif)
Ref:
@@ -535,7 +535,7 @@ This is a bipedal planner for modifying footsteps with inverted pendulum.
You can set the footsteps and the planner will modify those automatically.
![3](https://github.com/AtsushiSakai/PythonRobotics/blob/master/Bipedal/bipedal_planner/animation.gif)
![3](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Bipedal/bipedal_planner/animation.gif)
# License