Programming a Robotic Car

In the last few weeks I have been quite busy following the course "Programming a Robotic Car" on Udacitity. The course is quite demanding because it force you to implement all the algorithms presented. I think this is by far the most effective way to really learn and their on-line platform based on Python works pretty well.

These are some of the problems that can be solved with the techniques explained:

• Localizing a robot in a map
• Monte Carlo Localization
• Particle Filters Localization
• Tracking objects
• Kalman Filters
• Motion planning
• A Star
• Dynamic Programming
• Robot Motion
• Smoothing
• PID Control
• Simultaneous localization and mapping
• SLAM
• Online SLAM

You can access all the code in my public repository under the following path:

• Udacity >> CS 373 - Programming a robotic car

Here few snippets of the most relevant code. 

Kalman Filter:

Particle Filter:

A Start:

Smoothing:

PID Control:

Twiddle (used for tuning the PID control parameters):

Online SLAM: