Detailed Introduction
PythonRobotics is a collection of Python implementations and a companion textbook covering robotics algorithms including localization, mapping, SLAM, path planning, path tracking, and control. The project emphasizes readable implementations with minimal dependencies and provides many animated examples and an online documentation to help learners move from algorithm concepts to runnable code and visualizations.
Main Features
- Wide coverage: includes typical algorithms across localization, mapping, SLAM, path planning, path tracking, control, and arm navigation.
- Readable implementations: concise, runnable Python examples designed for teaching and experiments.
- Minimal dependencies: relies on common scientific libraries (NumPy, SciPy, Matplotlib) for easy local execution.
- Rich examples: many animations and illustrations to convey algorithm behavior and outcomes.
Use Cases
- Teaching and self-study: suitable for university courses and individual learners.
- Prototyping: useful to validate ideas for mobile robot navigation and control.
- Research baselines: provides reproducible baseline implementations for extension and comparison.
Technical Features
- Pure Python implementations with clear code style and inline explanations.
- Modular structure: organized by functional directories (Localization, Mapping, PathPlanning, SLAM, etc.) for discoverability.
- Online textbook: comprehensive documentation and chapter-style tutorials help systematic learning.
- Open-source license and active community: see the repository for contribution guidelines and license details.