移动机器人算法python实例 -- 开源项目推介

 

开源项目地址:https://github.com/AtsushiSakai/PythonRobotics


目录

介绍

依赖环境

安装方式

本地帮助文档的部署

作者


介绍

这是一个移动机器人从建图、SLAM、定位到路径规划和运动学模型,甚至还有四轴无人机以及四足机器人的各种算法的开源项目,相当不错,目前已经有了7.7k的start。

 

简单列举一下拥有的算法:


依赖环境:

  • Python 3.7.x (2.7 is not supported)

  • numpy

  • scipy

  • matplotlib

  • pandas

  • cvxpy


安装方式:

1、克隆仓库到本地:

git clone https://github.com/AtsushiSakai/PythonRobotics.git

cd PythonRobotics/

2、使用conda工具一键安装所有依赖项(否则就手动安装上面的依赖环境):

conda env create -f environment.yml

3、打开以算法命名的子文件夹,使用python运行里面的py文件就可以看到效果;


本地帮助文档的部署

1、首先,安装sphinx工具

pip install sphinx sphinx-autobuild sphinx-rtd-theme

2、进入 PythonRobotics/docs 目录,执行命令:

make html

另外,如果您想在每次更改文件时进行构建:

sphinx-autobuild . _build/html

3、Jupyter笔记本集成

当您想从每个jupyter笔记本生成rst文件时,输入命令:

cd PythonRobotics/docs
python jupyternotebook2rst.py

作者

作者主页:https://atsushisakai.github.io/

作者Atsushi Sakai,是一名日本的机器人算法工程师,在github很活跃,主导了好几个机器人相关的开源项目。

另外还有一个基于matlab的机器人算法实例(现在已经停止更新了),也非常不错,所有的实例都有图形化的显示以及不错的注释(注释部分由于是日语,可能会有乱码,可以打开他的博客,用谷歌页面翻译或者有道翻译,直接查看相关源码和解释)

 

 

About This Book, Design, simulate, build and program an interactive autonomous mobile robotProgram Robot Operating System using PythonGet a grip on the hands-on guide to robotics for learning various robotics concepts and build an advanced robot from scratch, Who This Book Is For, If you are an engineer, a researcher, or a hobbyist, and you are interested in robotics and want to build your own robot, this book is for you. Readers are assumed to be new to robotics but should have experience with Python., What You Will Learn, Understand the core concepts and terminologies of robotics Create 2D and 3D drawings of robots using freeware such as LibreCAD and Blender Simulate your robot using ROS and Gazebo Build robot hardware from the requirements Explore a diverse range of actuators and its interfacing Interface various robotic sensors to robots Set up and program OpenCV, OpenNI, and PCL to process 2D/3D visual data Learn speech processing and synthesis using Python Apply artificial intelligence to robots using Python Build a robot control GUI using Qt and Python Calibration and testing of robot, In Detail, Learning about robotics will become an increasingly essential skill as it becomes a ubiquitous part of life. Even though robotics is a complex subject, several other tools along with Python can help you design a project to create an easy-to-use interface., Learning Robotics Using Python is an essential guide for creating an autonomous mobile robot using popular robotic software frameworks such as ROS using Python. It also discusses various robot software frameworks and how to go about coding the robot using Python and its framework. It concludes with creating a GUI-based application to control the robot using buttons and slides., By the end of this tutorial, you'll have a clear idea of how to integrate and assemble all things into a robot and how to bundle the software package.
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