# awesome-matlab-robotics

**Repository Path**: jiaojianjun-com/awesome-matlab-robotics

## Basic Information

- **Project Name**: awesome-matlab-robotics
- **Description**: 令人敬畏的 MATLAB 和 Simulink 机器人
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 4
- **Forks**: 0
- **Created**: 2023-11-29
- **Last Updated**: 2024-11-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Awesome MATLAB and Simulink Robotics

This is a list of awesome demos, tutorials, utilities and overall resources for the robotics community that use MATLAB&reg; and Simulink&reg;. For more information and to get your projects included in this list, reach out to <roboticsarena@mathworks.com>

- [**By Applications Areas**](#by-applications-areas)
  * [Ground Vehicles and Mobile Robotics](#ground-vehicles-and-mobile-robotics)
  * [Manipulation](#manipulation)
  * [Legged Locomotion](#legged-locomotion)
  * [Robot Modeling](#robot-modeling)
  * [Perception](#perception)
  * [Mapping, Localization and SLAM](#mapping--localization-and-slam)
  * [Motion Planning and Path Planning](#motion-planning-and-path-planning)
  * [Motion Control](#motion-control)
  * [Unmanned Aerial Vehicles (UAV)](#unmanned-aerial-vehicles--uav-)
  * [Marine Robotics & AUV](#marine-robotics--auv)
  * [Automated Driving](#automated-driving)
- [**By Common Tools**](#by-common-tools)
  * [Simulators](#simulators)
  * [ROS and Middleware](#ros-and-middleware)
  * [Hardware and Connectivity](#hardware-and-connectivity)
- [**By Relevant MATLAB Toolboxes**](#by-relevant-matlab-toolboxes)

# By Applications Areas

## Ground Vehicles and Mobile Robotics

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://github.com/mathworks-robotics/Offroad-Navigation-for-Autonomous-Haul-Trucks">Off-Road Navigation for Autonomous Vehicles</a></li>
<li><a href="https://www.mathworks.com/matlabcentral/fileexchange/95998-autonomous-navigation-for-mobile-robots-and-ugv">Developing Navigation Stacks for Mobile Robots and UGV</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/simulate-different-kinematic-models-for-mobile-robots.html">Kinematic motion models for simulation</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/control-and-simulate-multiple-warehouse-robots.html">Control and simulation of warehouse robots</a></li>
<li><a href="https://www.mathworks.com/videos/programming-soccer-robot-behavior-1554386041395.html">Programming of soccer robot behavior (Video)</a></li>
<li><a href="https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-programming-robot-swarms-1539080970349.html">Simulation and programming of robot swarm (Video)</a></li>
<li>Mapping, Localization and SLAM (<span class="underline">See Section Below</span>)</li>
<li>Motion Planning and Path Planning (<span class="underline">See Section Below</span>)</li>
<li><a href="https://www.mathworks.com/matlabcentral/fileexchange/66586-mobile-robotics-simulation-toolbox">Mobile Robotics Simulation Toolbox</a> (<a href="https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-getting-started-with-the-mobile-robotics-simulation-toolbox-1523443253912.html">Video</a>)</li>
<li><a href="https://www.mathworks.com/matlabcentral/fileexchange/67157-robotics-playground?s_tid=vid_recs_pers_other_v3">Robotics Playground</a> (Robotics Education - <a href="https://www.mathworks.com/videos/matlab-and-simulink-pass-competitions-hub-getting-started-with-robotics-playground-virtual-worlds-1533569380647.html">Video</a>)</li>
</ul></td>
<td><img src="images/ground.png" style="width:2.13889in;height:1.55726in" /></td>
</tr>
</tbody>
</table>

## Manipulation

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://www.mathworks.com/help/robotics/robot-models.html">Tools for rigid body tree dynamics and analysis</a></li>
<li><a href="https://www.mathworks.com/help/robotics/inverse-kinematics.html">Inverse Kinematics</a> (<a href="https://blogs.mathworks.com/racing-lounge/2018/04/11/robot-manipulation-part-1-kinematics/">Blog</a> and <a href="https://github.com/mathworks-robotics/designing-robot-manipulator-algorithms">GitHub Repo</a>)</li>
<li><a href="https://www.mathworks.com/help/robotics/examples/plan-a-reaching-trajectory-with-kinematic-constraints.html">Inverse kinematics with spatial constraints</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/interactively-build-a-trajectory-abb-yumi.html">Interactive Inverse Kinematics</a></li>
<li><a href="https://www.mathworks.com/help/robotics/collision-detection.html">Collision checking</a> (<a href="https://www.mathworks.com/help/robotics/examples/check-for-manipulator-self-collisions-using-collision-meshes.html">Self-Collisions</a>, <a href="https://www.mathworks.com/help/robotics/examples/check-for-environmental-collisions-with-manipulators.html">Environment Collisions</a>)</li>
<li><a href="https://www.mathworks.com/help/robotics/trajectory-generation.html">Trajectory Generation</a> (<a href="https://blogs.mathworks.com/racing-lounge/2019/11/06/robot-manipulator-trajectory">Blog</a>, <a href="https://github.com/mathworks-robotics/trajectory-planning-robot-manipulators">GitHub Repo</a>)</li>
<li><a href="https://www.mathworks.com/help/robotics/examples/perform-safe-trajectory-tracking.html">Safe trajectory planning (Impedance based control)</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/pick-and-place-workflow-using-stateflow.html">Pick and place workflows</a> (<a href="https://www.mathworks.com/help/robotics/examples/pick-and-place-workflow-in-gazebo-using-ros.html">Using Gazebo</a>)</li>
<li><a href="https://github.com/dqrobotics/learning-dqrobotics-in-matlab/tree/master/robotic_manipulators">Learning Dual Quaternion Modeling and Control for Manipulators(GitHub)</a></li>
</ul></td>
<td><img src="images/manip.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

## Legged Locomotion

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://blogs.mathworks.com/racing-lounge/2019/12/20/walking-robot-modeling-and-simulation/">Modeling and simulation of walking robots</a> (<a href="https://github.com/mathworks-robotics/msra-walking-robot">GitHub Repo</a>)</li>
<li><a href="https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-walking-robots-pattern-generation-1546434170253.html">Pattern Generation for Walking Robots (Video)</a></li>
<li><a href="https://www.mathworks.com/videos/model-based-control-of-humanoid-walking-1574399243682.html">Linear Inverted Pendulum Model (LIPM)for humanoid walking (Video)</a></li>
<li><a href="https://www.mathworks.com/videos/deep-reinforcement-learning-for-walking-robots--1551449152203.html">Deep Reinforcement Learning for Walking Robots (Video)</a></li>
<li><a href="https://www.mathworks.com/matlabcentral/fileexchange/64237-running-robot-model-in-simscape">Modeling of quadruped robot running (Files)</a></li>
<li><a href="https://www.mathworks.com/help/reinforcement-learning/ug/quadruped-robot-locomotion-using-ddpg-gent.html">Quadruped Robot Locomotion Using DDPG Agent</a></li>
</ul></td>
<td><img src="images/legged.png" style="width:1.90972in;height:1.39149in" /></td>
</tr>
</tbody>
</table>

## Robot Modeling

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://www.mathworks.com/products/simscape.html">Simscape&trade; Tools for Modeling and Simulation of Physical Systems</a></li>
<li><a href="https://www.mathworks.com/matlabcentral/fileexchange/61370-robot-arm-with-conveyor-belts">Simulate Manipulator Actuators and Tune Control Parameters</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/model-and-control-a-manipulator-arm-with-simscape.html">Algorithm Verification Using Robot Models</a></li>
<li><a href="https://www.mathworks.com/help/robotics/ref/importrobot.html">Import Robots to MATLAB from URDF Files</a></li>
<li><a href="https://www.mathworks.com/help/physmod/sm/cad-import.html?s_tid=CRUX_lftnav">Import Robots from CAD and URDF Files</a></li>
</ul></td>
<td><img src="images/model.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

## Perception

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://www.mathworks.com/products/computer-vision.html#deep-learning-machine-learning">Deep Learning and Machine Learning</a></li>
<li><a href="https://www.mathworks.com/products/computer-vision.html#lidar-point-cloud-processing">Lidar and 3D Point Cloud Processing</a></li>
<li><a href="https://www.mathworks.com/products/computer-vision.html#vision-stereo-vision">3D Vision and Stereo Vision</a></li>
<li><a href="https://www.mathworks.com/products/computer-vision.html#feature-detection">Feature Detection, Extraction, and Matching</a></li>
<li><a href="https://www.mathworks.com/products/computer-vision.html#object-tracking">Object Tracking and Motion Estimation</a></li>
<li><a href="https://www.mathworks.com/help/nav/ug/estimate-orientation-through-inertial-sensor-fusion.html">Orientation Estimation from Inertial Sensors</a></li>
<li><a href="https://www.mathworks.com/help/nav/ug/reduce-drift-visual-odom-pose-graph.html">Drift Reduction for Visual Odometry</a></li>
</ul></td>
<td><img src="images/percep.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

## Mapping, Localization and SLAM

<table>
<tbody>
<tr class="odd">
<td><ul>
<li>2D Lidar SLAM Implementations (<a href="https://www.mathworks.com/help/nav/ug/implement-simultaneous-localization-and-mapping-with-lidar-scans.html">Offline</a>, <a href="https://www.mathworks.com/help/nav/ug/implement-online-simultaneous-localization-and-mapping-with-lidar-scans.html">Online</a>)</li>
<li><a href="https://www.mathworks.com/help/nav/ug/perform-lidar-slam-using-3d-lidar-point-clouds.html">3D Lidar SLAM Implementation</a></li>
<li><a href="https://www.mathworks.com/help/nav/ref/slammapbuilder-app.html">SLAM Map Builder Application</a></li>
<li><a href="https://www.mathworks.com/help/nav/mapping.html">Occupancy Grid Utilities</a></li>
<li><a href="https://www.mathworks.com/help/nav/ug/localize-turtlebot-using-monte-carlo-localization.html">Monte Carlo Localization</a></li>
<li><a href="https://www.mathworks.com/help/nav/ug/create-egocentric-occupancy-maps-using-range-sensors.html">Ego-Centric (Near Field) Occupancy Maps</a></li>
</ul></td>
<td><img src="images/slam.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

## Motion Planning and Path Planning

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://www.mathworks.com/help/nav/motion-planning.html?s_tid=CRUX_lftnav">Motion Planners (RRT, PRM, Hybrid A*)</a></li>
<li><a href="https://www.mathworks.com/help/nav/ug/motion-planning-with-rrt-for-manipulators.html">RRT Planners for Manipulators</a></li>
<li><a href="https://www.mathworks.com/help/nav/ug/plan-mobile-robot-paths-using-rrt.html">RRT Planners for Mobile Robots</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/path-planning-in-environments-of-difference-complexity.html">Path Planning Using Probabilistic Road Maps</a></li>
<li><a href="https://www.mathworks.com/help/nav/ug/path-following-with-obstacle-avoidance-in-simulink.html">Path Following with Obstacle Avoidance</a></li>
<li><a href="https://www.mathworks.com/help/nav/ug/dynamic-replanning-on-an-indoor-map.html">Dynamic Re-planning of Paths</a></li>
<li><a href="https://www.mathworks.com/help/nav/ug/choose-path-planning-algorithms-for-navigation.html">Choosing Path Planning Algorithms</a></li>
</ul></td>
<td><img src="images/path.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

## Motion Control

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://www.mathworks.com/help/robotics/examples/avoid-obstacles-using-reinforcement-learning-for-mobile-robots.html">Obstacle Avoidance for Mobile Robots Using Reinforcement Learning</a></li>
<li><a href="https://www.mathworks.com/videos/deep-reinforcement-learning-for-walking-robots--1551449152203.html">Deep Reinforcement Learning for Walking Robots (Video)</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/plan-and-execute-collision-free-trajectory-kinova-gen3.html">Model Predictive Control for collision-free manipulation trajectories</a></li>
<li><a href="https://github.com/mathworks-robotics/mobile-robotics-simulation-toolbox/blob/master/examples/matlab/mrsOmniwheelMPCInit.m">Model Predictive Control for holonomic robot navigation</a></li>
<li><a href="https://www.mathworks.com/help/slcontrol/ug/multi-loop-pid-control-of-a-robot-arm.html">Multi-Loop PI Control Tuning for Robotic Arm Actuators</a></li>
</ul></td>
<td><img src="images/control.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

## Unmanned Aerial Vehicles (UAV)

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://www.mathworks.com/matlabcentral/fileexchange/68788-robotics-system-toolbox-uav-library">Simulation Library for Fixed-Wing and Multi-Rotor UAVs</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/tuning-waypoint-follower-for-fixed-wing.html">Tune Waypoint Follower for Fixed-Wing UAV</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/approximate-high-fidelity-uav-model-with-guidance-model.html">Approximate High-Fidelity UAV models</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/load-and-playback-mavlink-tlog.html">Load and Playback MAVLink TLOG</a></li>
<li><a href="https://www.mathworks.com/help/robotics/examples/use-mavlink-parameter-protocol.html">Use a MAVLink Parameter Protocol for Tuning UAV Parameters in MATLAB</a></li>
<li><a href="https://www.mathworks.com/hardware-support/parrot-drone-matlab.html">Support for Parrot Drones</a></li>
<li><a href="https://www.mathworks.com/hardware-support/px4-autopilots.html">Support for PX4 Autopilots</a></li>
</ul></td>
<td><img src="images/uav.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

## Marine Robotics & AUV

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://www.mathworks.com/solutions/aerospace-defense/auv.html">AUV Development with MATLAB and Simulink </a>(<a href="https://www.mathworks.com/videos/design-modeling-and-simulation-of-autonomous-underwater-vehicles-1619636864529.html">Webinar</a>,<a href="https://www.mathworks.com/videos/series/auv-deep-dive.html"> Videos</a>,<a href="https://github.com/mathworks-robotics/modeling-and-simulation-of-an-AUV-in-Simulink"> GitHub</a>)</li>
<li><a href="https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-direction-of-arrival-with-matlab-1504107605701.html">Estimating Direction of Arrival for AUV’s</a></li>
<li><a href="https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-from-data-to-model-1518156121608.html">System Identification for Blue Robotics Thrusters</a></li>
<li><a href="https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-lqr-control-of-an-autonomous-underwater-vehicle-1543831839770.html">LQR Control of an AUV</a></li>
<li><a href="https://www.mathworks.com/videos/modeling-and-simulation-of-an-autonomous-underwater-vehicle-1586937688878.html">Dynamics and Control of AUV’s</a> (<a href="https://github.com/mathworks/AUV-modeling-and-sim">GitHub Repo</a>)</li>
<li><a href="https://blogs.mathworks.com/racing-lounge/2019/03/18/modeling-robotic-boats-in-simulink/">Modeling Robotic Boats in Simulink</a></li>
<li><a href="https://blogs.mathworks.com/racing-lounge/2018/12/10/vmrc-getting-started/">Simulation and Control of RobotX Challenge WAM-V Boats</a></li>
</ul></td>
<td><img src="images/marine.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

## Automated Driving

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://www.mathworks.com/help/driving/examples/lane-following-control-with-sensor-fusion-and-lane-detection.html">Lane Following Control with Sensor Fusion and Lane Detection</a></li>
<li><a href="https://www.mathworks.com/help/driving/examples/automate-ground-truth-labeling-for-semantic-segmentation.html">Automate Ground Truth Labeling for Semantic Segmentation</a></li>
<li><a href="https://www.mathworks.com/help/driving/examples/track-vehicles-using-lidar.html">Track Vehicles Using Lidar: From Point Cloud to Track List</a></li>
<li><a href="https://www.mathworks.com/help/driving/examples/track-level-fusion-of-radar-and-lidar-data.html">Track-Level Fusion of Radar and Lidar Data</a></li>
<li><a href="https://www.mathworks.com/help/driving/examples/visualize-automated-parking-valet-using-3d-simulation.html">Visualize Automated Parking Valet Using 3D Simulation</a></li>
<li><a href="https://www.mathworks.com/help/driving/examples/design-lidar-slam-algorithm-using-3d-simulation-environment.html">Design Lidar SLAM Algorithm Using 3D Simulation Environment</a></li>
<li><a href="https://www.mathworks.com/campaigns/offers/adaptive-cruise-control-design.html">Implementing an Adaptive Cruise Controller with Simulink</a></li>
</ul></td>
<td><img src="images/auto.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

# By Common Tools

## Simulators

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><strong>ROS – Based Simulators</strong> (<span class="underline">See Section Below</span>)</li>
<li><a href="https://www.mathworks.com/help/robotics/examples/perform-co-simulation-between-simulink-and-gazebo.html">Gazebo Co-Simulation</a></li>
<li><a href="https://www.mathworks.com/help/driving/unreal-engine-driving-scenario-simulation.html">UNREAL-Engine-Based Scenarios for Automated Driving</a></li>
<li><a href="https://github.com/mathworks-robotics/mobile-robotics-simulation-toolbox">Mobile Robotics Simulation Toolbox (GitHub Repo)</a></li>
<li><a href="https://github.com/mathworks-robotics/robotics-playground">Robotics Playground (GitHub Repo)</a></li>
</ul>
<td><img src="images/sim.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

## ROS and Middleware

<table>
<tbody>
<tr class="odd">
<td><ul>
<li><a href="https://blogs.mathworks.com/racing-lounge/2017/11/08/matlab-simulink-ros/?doing_wp_cron=1588711755.3957149982452392578125">Getting Started with MATLAB, Simulink and ROS</a></li>
<li><a href="https://www.mathworks.com/help/ros/referencelist.html?type=function">MATLAB support for ROS and ROS 2</a></li>
<li><a href="https://www.mathworks.com/help/ros/examples.html?category=ros-in-simulink">Simulink Support for ROS and ROS 2</a></li>
<li><a href="https://www.mathworks.com/help/ros/custom-message-support.html">Support for ROS Custom Messages</a></li>
<li><a href="https://www.mathworks.com/help/ros/ug/generate-a-standalone-ros-node-from-simulink.html">Automatic ROS Node Generation from Simulink</a></li>
<li><a href="https://www.mathworks.com/videos/deploying-ros-node-on-raspberry-pi-1587374778793.html">ROS Node Generation for Raspberry Pi</a></li>
</ul></td>
<td><img src="images/ros.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

## Hardware and Connectivity

<table>
<tbody>
<tr class="odd">
<td><ul>
<li>Any Robot Running <strong><span class="underline">ROS</span></strong> (See ROS Section)</li>
<li><a href="https://www.mathworks.com/matlabcentral/fileexchange/78438-robotics-system-toolbox-support-package-for-kinova-gen3-manipulators">Robotics System Toolbox Support for Kinova Robots</a></li>
<li><a href="https://www.mathworks.com/matlabcentral/fileexchange/117530-robotics-system-toolbox-support-package-for-universal-robots-ur-series-manipulators">Robotics System Toolbox Support for Universal Robots</a></li>
<li><a href="https://www.mathworks.com/matlabcentral/fileexchange/67323-toyota-human-support-robot-hsr-examples">Toyota HSR Examples</a></li>
<li><a href="https://www.mathworks.com/matlabcentral/fileexchange/55578-ros-toolbox-support-package-for-turtlebot-based-robots">TurtleBot Robots</a></li>
<li><a href="https://www.mathworks.com/academia/student-competitions/vex-robotics.html">VEX Robotics</a></li>
<li><a href="https://www.mathworks.com/hardware-support/raspberry-pi-matlab.html">Raspberry Pi</a></li>
<li><a href="https://www.mathworks.com/hardware-support/beaglebone-blue.html">BeagleBone Blue</a></li>
<li><a href="https://www.mathworks.com/hardware-support/lego-mindstorms-ev3-matlab.html">LEGO Mindstorms</a></li>
<li><a href="https://www.mathworks.com/hardware-support.html">MATLAB and Simulink Hardware Support Packages</a></li>
</ul></td>
<td><img src="images/connect.png" style="width:1.77083in;height:2.03068in" /></td>
</tr>
</tbody>
</table>

# By Relevant MATLAB Toolboxes

  - [Robotics System Toolbox&trade;](https://www.mathworks.com/help/robotics/examples.html)
  - [ROS Toolbox](https://www.mathworks.com/help/ros/examples.html)
  - [Navigation Toolbox&trade;](https://www.mathworks.com/help/nav/examples.html)
  - [Sensor Fusion and Tracking Toolbox&trade;](https://www.mathworks.com/help/fusion/examples.html)
  - [Computer Vision Toolbox&trade;](https://www.mathworks.com/help/vision/examples.html)
  - [Automated Driving Toolbox&trade;](https://www.mathworks.com/help/driving/examples.html)
  - [RoadRunner](https://www.mathworks.com/support/search.html?q=&fq=asset_type_name:video%20category:roadrunner/index&page=1)
  - [Deep Learning Toolbox&trade;](https://www.mathworks.com/help/deeplearning/examples.html)
  - [Reinforcement Learning Toolbox&trade;](https://www.mathworks.com/help/reinforcement-learning/examples.html)
  - [Control System Toolbox&trade;](https://www.mathworks.com/help/control/examples.html)
  - [Simscape&trade;](https://www.mathworks.com/help/physmod/simscape/examples.html)
  
Copyright 2020 The MathWorks, Inc