This repository constitutes a collection of geometry-aware robotics algorithms and simulations. We plan to add various robotics-related implementations in the future.
This directory contains implementations of the Artificial Potential Field (APF) algorithm for robot path planning and obstacle avoidance.
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obstacle_avoidance/APF.py- Implements the classic APF algorithm.
- Uses Attractive Force to pull the robot toward the goal.
- Uses Repulsive Force to push the robot away from obstacles.
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obstacle_avoidance/APF_improved.py- An improved version of the APF algorithm.
- Tangential Force: Adds a force tangential to the obstacle boundary to help the robot navigate around obstacles smoother, rather than just being pushed away.
- Random Noise: Adds small random perturbations to help the robot escape local minima situations where attractive and repulsive forces might cancel out.
Below is a demonstration of the improved APF algorithm in action:
This directory contains a tool for generating AprilTag markers, which are widely used in robotics for localization, calibration, and object tracking.
apriltag/make_apriltag.py- Generates AprilTag markers from the tag36h11 family
- Creates individual tag images with cutting guide boxes
- Arranges multiple tags on A4/A3 paper layouts for printing
- Configurable tag size, DPI, margins, and grid layout
- Outputs high-quality PNG files suitable for physical printing
The script generates both individual tag files and a complete sheet layout, making it easy to print and cut out physical AprilTag markers for your robotics applications.
