ShisatoYano / JuliaAutonomy

Julia sample codes for Autonomy, Robotics and Self-Driving Algorithms.

JuliaAutonomy

Julia codes for Autonomy, Robotics and Self-Driving Algorithms.

Table of Contents

• About this repository
• How to use
• Requirements
• Sample codes
  • Localization
    • Particle Filter
    • Kalman Filter
    • Reset Process
  • SLAM
  • Decision Making
  • Parameters Inference
• License
• Contribution
• Author

About this repository

This repository is a Julia sample codes collection of Autonomy, Robotics and Self-Driving Algorithms.
I've been inspired by and referring to the following projects.

• LNPR
• PythonRobotics

How to use

1. Clone this repository.

git clone https://github.com/ShisatoYano/JuliaAutonomy.git

2. Install the required packages.

julia> include("setup.jl")
julia> Setup.install_packages()

3. Execute Julia script in each directory.
   For example,

julia> include("src/localization/particle_filter/random_sampling/anime_mcl_rand_samp.jl")
julia> AnimeMclRandSamp.main()

4. Add star to this repository, if you like it.

Requirements

• Julia 1.6.x
• Plots
• DataFrames
• CSV
• Test
• StatsPlots
• Statistics
• FreqTables
• NamedArrays
• Distributions
• LinearAlgebra
• StatsBase
• PDMats
• Combinatorics
• SpecialFunctions

Sample codes

Localization

Particle Filter

Monte Carlo Localization by Particle Filter
considering Random Sampling

KLD(Kullback-Leibler Divergance) Sampling

Kalman Filter

Localization by Extended Kalman Filter

Reset Process

Adaptive reset MCL for kidnapped robot problem

Expansion + Sensor reset MCL for kidnapped robot problem

SLAM

FastSLAM 1.0

FastSLAM 2.0

Graph-based SLAM

Decision Making

Markov Decision Process

Reinforcement Learning

Partially Observable Markov Decision Process

Parameters Inference

Analyzing mixture model

License

MIT

Contribution

Any contribution is welcome.

Author

Shisato Yano (@4310sy)