PythonRobotics

Python sample code for robotics

Path Planning

Path Planning Sample.

RRT

Rapidly Randamized Tree Path plainning sample.

simple_rrt.py

This script is a simple rrt 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

Dubins path planning

A sample code for Dubins path planning.

Dubins path - Wikipedia

Optimization

Nonlinear Optimization Sample codes.

ConjugateGradientMethod

LagrangeMultiplierMethod

NewtonMethod

QuasiNewtonMethod

SteepestDescentMethod