PythonRobotics：开源Python机器人算法集

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"PythonRobotics是一个开源软件项目，其PDF文档标题为《PythonRobotics：Python编程语言中的机器人算法代码集》。该文档由Atsushi Sakai等人编撰，旨在提供一个对初学者友好的平台，帮助他们理解自主导航和其他机器人算法的基本概念。项目的核心是收集在Python 3环境下实现的实用且广泛应用于学术界和工业界的机器人算法。该项目的重点在于教育和实践性，每个样本代码都注重简洁易读，仅依赖于标准模块，以便用户能够轻松上手。此外，文档还包含直观的动画，帮助读者更好地理解算法在模拟环境中的行为。这些算法覆盖了机器人学的基础领域，如路径规划、避障、控制策略等，这些都是现代机器人技术不可或缺的部分。通过PythonRobotics，开发者可以快速学习和掌握机器人操作的基础技能，同时也能了解到最新的科研进展和技术应用。这个项目不仅有助于个人学习，也是教育机构和企业进行教学、研发或项目参考的理想资源。PythonRobotics是一个推动机器人技术普及和发展的宝贵工具，体现了Python作为一门强大且灵活的编程语言在机器人领域的广泛应用潜力。"

ARXIV: :1808.10703 [CS.RO] 31 AUG 2018 1

PythonRobotics: a Python code collection

of robotics algorithms

Atsushi Sakai

https://atsushisakai.github.io/

University of California, Berkeley

Daniel Ingram

ingramds@appstate.edu

Appalachian State University

Joseph Dinius

jdinius@inviarobotics.com

inVia Robotics, Inc.

Karan Chawla

karan@skyryse.com

Skyryse Inc.

Antonin Rafﬁn

antonin.rafﬁn@ensta-paristech.fr

ENSTA ParisTech

Alexis Paques

Alexis@unmanned.life

Unmanned Life

Abstract

This paper describes an Open Source Software (OSS) project: PythonRobotics[21].

This is a collection of robotics algorithms implemented in the Python programming lan-

guage. The focus of the project is on autonomous navigation, and the goal is for beginners

in robotics to understand the basic ideas behind each algorithm. In this project, the algo-

rithms which are practical and widely used in both academia and industry are selected.

Each sample code is written in Python3 and only depends on some standard modules for

readability and ease of use. It includes intuitive animations to understand the behavior of

the simulation.

1 Introduction

In recent years, autonomous navigation technologies have received huge attention in many

ﬁelds. Such ﬁelds include, autonomous driving[22], drone ﬂight navigation, and other trans-

portation systems.

An autonomous navigation system is a system that can move to a goal over long periods

of time without any external control by an operator. The system requires a wide range of

technologies: It needs to know where it is (localization), where it is safe (mapping), where

and how to move (path planning), and how to control its motion (path following). The

autonomous system would not work correctly if any of these technologies is missing.

Educational materials are becoming more and more important for future developers to

learn basic autonomous navigation technologies. Because these autonomous technologies

need different technological skill sets such as: linear algebra, statistics, probability theory,

optimization theory, and control theory etc. It needs a lot of time to be familiar with these

It may be distributed unchanged freely in print or electronic forms.

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