Python Robotics is a comprehensive collection of Python sample codes and a textbook for various robotics algorithms. It is designed to be easy to read and understand, making it accessible for those who want to learn about robotics algorithms and their implementations. The repository covers a wide range of topics, including localization, mapping, SLAM (Simultaneous Localization and Mapping), path planning, path tracking, arm navigation, aerial navigation, and bipedal planning.

Key Features

• Localization: Includes algorithms like Extended Kalman Filter, Particle Filter, and Histogram Filter for determining the robot's position based on sensor data.

• Mapping: Provides examples of Gaussian grid maps, ray casting grid maps, and converting Lidar data to grid maps.

• SLAM: Features algorithms like Iterative Closest Point (ICP) Matching and FastSLAM 1.0 for simultaneous localization and mapping.

• Path Planning: Covers various algorithms such as Dijkstra, A*, D*, D* Lite, Potential Field, and Rapidly-Exploring Random Trees (RRT) for finding optimal paths.

• Path Tracking: Includes control methods like Stanley control, rear wheel feedback control, and Linear–quadratic regulator (LQR) speed and steering control.

• Arm Navigation: Demonstrates N joint arm to point control and arm navigation with obstacle avoidance.

• Aerial Navigation: Provides simulations for drone 3D trajectory following and rocket-powered landing.

• Bipedal Planning: Features a bipedal planner for modifying footsteps for an inverted pendulum.