A repository of introductory autonomous ground vehicle (i.e., wheeled mobile robot) simulation examples in Python.

A description of the Kinematic Bicycle Model written in Cython with an animated example.

Building models that capture vehicle dynamics

Bicycle Dynamics - Stability analysis and designing controller for Bicycle. SBU Modern Control course final project.

Bicyle model tests.

Control of a 6-state bicycle model for racing and evading random obstacles utilizing Model Predictive Control (MPC).

Model Predictive Control (MPC) for kinematic bicycle model

Real-time algorithms for following a given path while avoiding initially unknown static obstacles.

Controlling a nonholonomic robot to follow a trajectory with a modified PID Controller.

Implementation of DDP algorithm for Optimal Control on a Bicycle Model for optimal lane change maneuvering and Skidpad track following.

This repository is created based on the projects opened at the Coursera Self-driving Cars specialization course, published by Toronto University. https://www.coursera.org/specializations/self-driving-cars

Control of Mobile Robots course project 2021/2022 - Politecnico di Milano.

Supports the various URDF and GAZEBO mobile robot model

Repo for the Bikestream project (aka Databike Pilot Project)

Coursera specialization

Path tracking with dynamic bicycle models

A simple simulation of the bicycle model using Qt.

Given a graph, A* finds the optimal path, if it exists, joining the start node to the goal node. Hybrid A* takes vehicle dynamics into consideration and generates a smoother path which the vehicle can follow. Both the implementations are optimized using dictionaries & heaps

Visualizing path prediction using Bicycle Model for various Initial Velocities, acceleration, steering angle, heading angle and calculation time