2025-02-13

Python sample program of Path generation with Cubic Spline Interpolation

Introduction to Cubic Spline Interpolation with Examples in Python (English Edition)

作者:Maindl, Thomas

Introduction

Cubic spline is a piecewise cubic function that interpolates a set of data points and guarantees smoothness at the data points. So, cubic spline can be used to generate a smooth reference path for autonomous driving. In this entry, I'm introducing a summary of cubic spline algorithm and Python sample program of a path generation with cubic spline interpolation.

Introduction
Table of contents
Source code at GitHub
Spline
Cubic Spline Interpolation
Conditions for Parameters decision
- 1. Constraint condition at edge points of segments
- 2. Continuity condition at boundaries of segments
- 3. Continuity condition of first derivative at boundaries of segments
- 4. Continuity condition of second derivative at boundaries of segments
- 5. Boundary condition of second derivative between start point and end point
1D Cubic Spline
2D X-Y Path generation with Cubic Spline Interpolation

Source code at GitHub

All source codes are located at the following GitHub repository.

Cubic spline module
github.com

Path generation simulation
github.com

2025-02-10

Python sample program of Path tracking simulation with Pure pursuit algorithm

Python Robotics Autonomous Driving Algorithm Vehicle Control

Autonomous Road Vehicle Path Planning and Tracking Control (IEEE Press Series on Control Systems Theory and Applications) (English Edition)

作者:Guvenc, Levent,Aksun-Guvenc, Bilin,Zhu, Sheng,Gelbal, Sukru Yaren
Wiley-IEEE Press

Amazon

Introduction

Path tracking technology is to track a course which is generated with a path planning algorithm. In this entry, I'm introducing a summary and Python sample program of Pure pursuit algorithm which is the most basic and is widely used for Autonomous navigation.

Introduction
Table of contents
Source code at GitHub
Pure pursuit algorithm
- Look-ahead distance
- Angular velocity computation
Implementation of Python program
- 1. Controller module class
- 2. Computation of Look-ahead distance
- 3. Decision of Target point on Course
- 4. Computation of Forward acceleration command
- 5. Computation of Angular velocity command
- 6. Sequence of computation
Path tracking simulation

Source code at GitHub

All source codes are located at the following GitHub repository.

Pure pursuit controller module
github.com

Path tracking simulation
github.com

2025-01-14

Python sample program of Self-Localization simulation by Extended Kalman Filter

Python Robotics Autonomous Driving Algorithm Localization

Kalman Filtering: with Real-Time Applications

作者:Chui, Charles K.
Springer

Amazon

Introduction

Self-Localization technology is very essential for autonomous driving system to know the vehicle's position and pose. In this entry, I'm introducing a summary of Extended Kalman Filter(EKF) which is commonly used for self-localization algorithm and the Python sample program.

Introduction
Table of contents
Source code at GitHub
Basis of Kalman filter
Why EKF?
Implementation of Python program
- 1. Initialization
- 2. State module class
- 3. Observation model
- 4. Jacobian
- 5. Predict and Update
- 6. Error covariance elipse
Simulation result

Source code at GitHub

All source codes are located at the following GitHub repository.

Extended Kalman Filter localization module
github.com

Self-Localization simulation
github.com

2025-01-10

Python sample program of 1D position and velocity estimation by Kalman filter

Python Robotics Autonomous Driving Algorithm Localization

Kalman Filter and its Applications: The study of the application of Kalman Filters in various fields of Digital Signal Processing

作者:Tandon, Charvi,Khursheed, Amal,Gupta, Nidhi
LAP Lambert Academic Publishing

Amazon

Introduction

Kalman filter is commonly used for robot or vehicle's state estimation in autonomous navigation. In this entry, I'm introducing a simple Python sample code of 1D position and velocity estimation by Kalman filter.

Introduction
Table of contents
Source code at GitHub
Theory of Kalman filter
Problem
Source code
- Parameters
- Motion model
- Observation model
- Kalman filter module
- Simulation