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Python codes for robotics algorithm.
# Table of Contents
* [What is this?](#what-is-this)
* [Requirements](#requirements)
* [How to use](#how-to-use)
* [Localization](#localization)
* [Extended Kalman Filter localization](#extended-kalman-filter-localization)
* [Unscented Kalman Filter localization](#unscented-kalman-filter-localization)
* [Particle filter localization](#particle-filter-localization)
* [Histogram filter localization](#histogram-filter-localization)
* [Mapping](#mapping)
* [Gaussian grid map](#gaussian-grid-map)
* [Ray casting grid map](#ray-casting-grid-map)
* [SLAM](#slam)
* [Iterative Closest Point (ICP) Matching](#iterative-closest-point-icp-matching)
* [EKF SLAM](#ekf-slam)
* [FastSLAM 1.0](#fastslam-10)
* [Path Planning](#path-planning)
* [Dynamic Window Approach](#dynamic-window-approach)
* [Grid based search](#grid-based-search)
* [Dijkstra algorithm](#dijkstra-algorithm)
* [A* algorithm](#a-algorithm)
* [Potential Field algorithm](#potential-field-algorithm)
* [Model Predictive Trajectory Generator](#model-predictive-trajectory-generator)
* [Path optimization sample](#path-optimization-sample)
* [Lookup table generation sample](#lookup-table-generation-sample)
* [State Lattice Planning](#state-lattice-planning)
* [Uniform polar sampling](#uniform-polar-sampling)
* [Biased polar sampling](#biased-polar-sampling)
* [Lane sampling](#lane-sampling)
* [Probabilistic Road-Map (PRM) planning](#probabilistic-road-map-prm-planning)
* [Voronoi Road-Map planning](#voronoi-road-map-planning)
* [Rapidly-Exploring Random Trees (RRT)](#rapidly-exploring-random-trees-rrt)
* [Basic RRT](#basic-rrt)
* [RRT*](#rrt)
* [RRT with dubins path](#rrt-with-dubins-path)
* [RRT* with dubins path](#rrt-with-dubins-path-1)
* [RRT* with reeds-sheep path](#rrt-with-reeds-sheep-path)
* [Closed Loop RRT*](#closed-loop-rrt)
* [Cubic spline planning](#cubic-spline-planning)
* [B-Spline planning](#b-spline-planning)
* [Bezier path planning](#bezier-path-planning)
* [Quintic polynomials planning](#quintic-polynomials-planning)
* [Dubins path planning](#dubins-path-planning)
* [Reeds Shepp planning](#reeds-shepp-planning)
* [Optimal Trajectory in a Frenet Frame](#optimal-trajectory-in-a-frenet-frame)
* [Path tracking](#path-tracking)
* [Pure pursuit tracking](#pure-pursuit-tracking)
* [Stanley control](#stanley-control)
* [Rear wheel feedback control](#rear-wheel-feedback-control)
* [Linear–quadratic regulator (LQR) steering control](#linearquadratic-regulator-lqr-steering-control)
* [Linear–quadratic regulator (LQR) speed and steering control](#linearquadratic-regulator-lqr-speed-and-steering-control)
* [Model predictive speed and steering control](#model-predictive-speed-and-steering-control)
* [License](#license)
* [Contribution](#contribution)
* [Author](#author)
# What is this?
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![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/SLAM/FastSLAM1/animation.gif)
Ref:
- [PROBABILISTIC ROBOTICS](http://www.probabilistic-robotics.org/)
- [SLAM simulations by Tim Bailey](http://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm)
## FastSLAM 2.0
This is a feature based SLAM example using FastSLAM 2.0.
The animation has same meanings as one of FASTSLAM 1.0.
![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/SLAM/FastSLAM2/animation.gif)
Ref:
- [PROBABILISTIC ROBOTICS](http://www.probabilistic-robotics.org/)
@@ -622,3 +584,4 @@ Atsushi Sakai ([@Atsushi_twi](https://twitter.com/Atsushi_twi))