Comprehensive Python Code Collection for Robot Algorithms: Localization, Mapping, SLAM, Path Planning, and Tracking

1. Environment Requirements

Python 3.6.x with libraries such as numpy, scipy, matplotlib, pandas, and cvxpy 0.4.x.

2. How to Use

Install dependencies, clone the repository, and run the Python scripts in each directory.

3. Localization

Includes Extended Kalman Filter (EKF) localization, Unscented Kalman Filter (UKF) localization, Particle Filter (PF) localization, and Histogram filter localization, each illustrated with simulated trajectories and sensor observations.

4. Mapping

Demonstrates Gaussian grid mapping, ray‑casting grid mapping, k‑means object clustering, and circular‑fit shape recognition.

5. SLAM

Covers Iterative Closest Point (ICP) matching, EKF‑SLAM, FastSLAM 1.0 and 2.0, and graph‑based SLAM, showing real vs. estimated paths and landmark estimations.

6. Path Planning

Shows Dynamic Window Approach, Dijkstra and A* grid search, potential field planning, Model Predictive Path Generation, state lattice planning (with uniform, biased, and lane sampling), PRM, Voronoi, various RRT variants (basic, RRT*, informed, batch, closed‑loop, LQR‑RRT*), spline‑based planners (cubic, B‑spline, Eta³, Bézier, quintic polynomial), Dubins and Reeds‑Shepp planners, and LQR‑based planning.

7. Path Tracking

Provides simulations for pose control tracking, pure‑pursuit, Stanley controller, rear‑wheel feedback, LQR steering, combined LQR steering‑speed, and model‑predictive steering‑speed control.

8. Project Support

The project is hosted at https://github.com/AtsushiSakai/PythonRobotics and can be financially supported via Patreon, which also offers email technical support to patrons.