PythonRobotics

https://atsushisakai.github.io/PythonRobotics/

이거 그냥 쩐다. 

이걸로 한학기 수업하면 딱일 것 같다. 

Table of Contents

• What is this?
• Requirements
• How to use
• Localization
  • Extended Kalman Filter localization
  • Unscented Kalman Filter localization
  • Particle filter localization
  • Histogram filter localization
• Mapping
  • Gaussian grid map
  • Ray casting grid map
  • k-means object clustering
  • Object shape recognition using circle fitting
• SLAM
  • Iterative Closest Point (ICP) Matching
  • EKF SLAM
  • FastSLAM 1.0
  • FastSLAM 2.0
  • Graph based SLAM
• Path Planning
  • Dynamic Window Approach
  • Grid based search
    • Dijkstra algorithm
    • A* algorithm
    • Potential Field algorithm
  • Model Predictive Trajectory Generator
    • Path optimization sample
    • Lookup table generation sample
  • State Lattice Planning
    • Uniform polar sampling
    • Biased polar sampling
    • Lane sampling
  • Probabilistic Road-Map (PRM) planning
  • Voronoi Road-Map planning
  • Rapidly-Exploring Random Trees (RRT)
    • Basic RRT
    • RRT*
    • RRT with dubins path
    • RRT* with dubins path
    • RRT* with reeds-sheep path
    • Informed RRT*
    • Batch Informed RRT*
    • Closed Loop RRT*
    • LQR-RRT*
  • Cubic spline planning
  • B-Spline planning
  • Bezier path planning
  • Quintic polynomials planning
  • Dubins path planning
  • Reeds Shepp planning
  • LQR based path planning
  • Optimal Trajectory in a Frenet Frame
• Path tracking
  • Pure pursuit tracking
  • Stanley control
  • Rear wheel feedback control
  • Linear–quadratic regulator (LQR) steering control
  • Linear–quadratic regulator (LQR) speed and steering control
  • Model predictive speed and steering control
• License
• Contribution
• Support
• Authors