Autonomous Ground Vehicle Navigation and Control Simulation Examples in Python

Related tags

Deep Learningroboticsnavigationcontrol-systemslinear-systemsmobile-roboticswheeled-mobile-robotdifferential-drive-robottricyclebicycle-modelcontroller-designackermann-vehicle
Overview

Autonomous Ground Vehicle Navigation and Control Simulation Examples in Python

THIS PROJECT IS CURRENTLY A WORK IN PROGRESS AND THUS THIS REPOSITORY IS INCOMPLETE

This is a repository of introductory autonomous ground vehicle (i.e., wheeled mobile robot) simulation examples in Python. The purpose of these examples is to provide easy-to-follow code that is illustrative of a number of fundamental mobile robot modelling, control, and navigation (localization, mapping) concepts. Motion planning problems lie beyond the scope of this example set. The focus here is on ground vehicles, although the presented techniques are also applicable more broadly. This code was initially developed to supplement topics covered in the course ELEC 845 Autonomous Vehicle Control & Navigation in the Department of Electrical & Computer Engineering at Queen's University.

MoBotPy Package

The repository also includes a supporting Python package MoBotPy (mobotpy) that contains some code that is used repeatedly. Code developed in the worked examples is subsequently added to MoBotPy.

Module Filename Description
integration.py Provides basic Runge-Kutta and Euler integration functions.
models.py Provides standard vehicle models, plotting, and animation methods.
graphics.py Provides some basic shape plotting functions (used by models.py).

Tables of Examples in this Repository

This section provides a list of the examples in this repository.

Introductory Linear System Examples

These examples provide a review of basic concepts from control systems engineering in preparation for more advanced methods.

Filename Description
oneD_kinematic.py Simulation of a linear 1D kinematic vehicle.
oneD_dynamic.py Simulation of a linear 1D dynamic vehicle.
oneD_kinematic_control.py Point stabilization of a linear 1D kinematic vehicle.
oneD_dynamic_control.py Point stabilization of a linear 1D dynamic vehicle.
oneD_discrete_control.py Point stabilization of a linear 1D dynamic vehicle in discrete time.
oneD_integral_control.py Example illustrating integral action for disturbance rejection.
oneD_dynamic_observer.py State estimation for a linear 1D dynamic vehicle.
oneD_combined_control.py Example illustrating control combined with a state estimator.

Vehicle Modelling Examples

These examples provide simple models for a variety of commonly used wheeled vehicles.

Filename Description
diffdrive_kinematic.py Simulation of a differential drive vehicle's kinematics.
tricycle_kinematic.py Simulation of a tricycle vehicle's kinematics.
ackermann_kinematic.py Simulation of an Ackermann steered (car-like) vehicle's kinematics.

Cite this Work

You may wish to cite this work in your publications.

Joshua A. Marshall, Autonomous Ground Vehicle Navigation and Control Simulation Examples in Python, 2021, URL: https://github.com/botprof/agv-examples.

You might also use the BibTeX entry below.

@misc{Marshall2021,
  author = {Marshall, Joshua A.},
  title = {Autonomous Ground Vehicle Navigation and Control Simulation Examples in Python},
  year = {2021},
  howpublished = {\url{https://github.com/botprof/agv-examples}}
}

Contact the Author

Joshua A. Marshall, PhD, PEng
Department of Electrical & Computer Engineering
Queen's University
Kingston, ON K7L 3N6 Canada
+1 (613) 533-2921
[email protected]

License

Source code examples in this notebook are subject to an MIT License.

You might also like...
ObjectDrawer-ToolBox: a graphical image annotation tool to generate ground plane masks for a 3D object reconstruction system
ObjectDrawer-ToolBox: a graphical image annotation tool to generate ground plane masks for a 3D object reconstruction system

ObjectDrawer-ToolBox is a graphical image annotation tool to generate ground plane masks for a 3D object reconstruction system, Object Drawer.

null 77 Jan 5, 2023
UAV-Networks-Routing is a Python simulator for experimenting routing algorithms and mac protocols on unmanned aerial vehicle networks.

UAV-Networks Simulator - Autonomous Networking - A.A. 20/21 UAV-Networks-Routing is a Python simulator for experimenting routing algorithms and mac pr

null 0 Nov 13, 2021
Episodic Transformer (E.T.) is a novel attention-based architecture for vision-and-language navigation. E.T. is based on a multimodal transformer that encodes language inputs and the full episode history of visual observations and actions.
Episodic Transformer (E.T.) is a novel attention-based architecture for vision-and-language navigation. E.T. is based on a multimodal transformer that encodes language inputs and the full episode history of visual observations and actions.

Episodic Transformers (E.T.) Episodic Transformer for Vision-and-Language Navigation Alexander Pashevich, Cordelia Schmid, Chen Sun Episodic Transform

Alex Pashevich 62 Dec 24, 2022
Vehicle speed detection with python

Vehicle-speed-detection In the project simulate the tracker.py first then simulate the SpeedDetector.py. Finally, a new window pops up and the output

null 3 Dec 15, 2022
Model-free Vehicle Tracking and State Estimation in Point Cloud Sequences
Model-free Vehicle Tracking and State Estimation in Point Cloud Sequences

Model-free Vehicle Tracking and State Estimation in Point Cloud Sequences 1. Introduction This project is for paper Model-free Vehicle Tracking and St

TuSimple 92 Jan 3, 2023
Aerial Imagery dataset for fire detection: classification and segmentation (Unmanned Aerial Vehicle (UAV))
Aerial Imagery dataset for fire detection: classification and segmentation (Unmanned Aerial Vehicle (UAV))

Aerial Imagery dataset for fire detection: classification and segmentation using Unmanned Aerial Vehicle (UAV) Title FLAME (Fire Luminosity Airborne-b

null 79 Jan 6, 2023
Vehicle Detection Using Deep Learning and YOLO Algorithm
Vehicle Detection Using Deep Learning and YOLO Algorithm

VehicleDetection Vehicle Detection Using Deep Learning and YOLO Algorithm Dataset take or find vehicle images for create a special dataset for fine-tu

Maryam Boneh 96 Jan 5, 2023
Vehicle direction identification consists of three module detection , tracking and direction recognization.

Vehicle-direction-identification Vehicle direction identification consists of three module detection , tracking and direction recognization. Algorithm

null 5 Nov 15, 2022
A light and fast one class detection framework for edge devices. We provide face detector, head detector, pedestrian detector, vehicle detector......

A Light and Fast Face Detector for Edge Devices Big News: LFD, which is a big update of LFFD, now is released (2021.03.09). It is strongly recommended

YonghaoHe 1.3k Dec 25, 2022
Releases(v0.4.2)
Owner
Joshua Marshall
Professor and engineering scientist in field and mobile robotics.
Joshua Marshall
GitHub Repository
Patch-Diffusion Code (AAAI2022)

Patch-Diffusion This is an official PyTorch implementation of "Patch Diffusion: A General Module for Face Manipulation Detection" in AAAI2022. Require

H 7 Nov 02, 2022
Few-NERD: Not Only a Few-shot NER Dataset

Few-NERD: Not Only a Few-shot NER Dataset This is the source code of the ACL-IJCNLP 2021 paper: Few-NERD: A Few-shot Named Entity Recognition Dataset.

THUNLP 319 Dec 30, 2022
ANEA: Distant Supervision for Low-Resource Named Entity Recognition

ANEA: Distant Supervision for Low-Resource Named Entity Recognition ANEA is a tool to automatically annotate named entities in unlabeled text based on

Saarland University Spoken Language Systems Group 15 Mar 30, 2022
Generalized hybrid model for mode-locked laser diodes with an extended passive cavity

GenHybridMLLmodel Generalized hybrid model for mode-locked laser diodes with an extended passive cavity This hybrid simulation strategy combines a tra

Stijn Cuyvers 3 Sep 21, 2022
Python binding for Khiva library.

Khiva-Python Build Documentation Build Linux and Mac OS Build Windows Code Coverage README This is the Khiva Python binding, it allows the usage of Kh

Shapelets 46 Oct 16, 2022
Object detection and instance segmentation toolkit based on PaddlePaddle.

Object detection and instance segmentation toolkit based on PaddlePaddle.

9.3k Jan 02, 2023
AirLoop: Lifelong Loop Closure Detection

AirLoop This repo contains the source code for paper: Dasong Gao, Chen Wang, Sebastian Scherer. "AirLoop: Lifelong Loop Closure Detection." arXiv prep

Chen Wang 53 Jan 03, 2023
Generate fine-tuning samples & Fine-tuning the model & Generate samples by transferring Note On

UPMT Generate fine-tuning samples & Fine-tuning the model & Generate samples by transferring Note On See main.py as an example: from model import PopM

7 Sep 01, 2022
Rainbow DQN implementation that outperforms the paper's results on 40% of games using 20x less data 🌈

Rainbow 🌈 An implementation of Rainbow DQN which reaches a median HNS of 205.7 after only 10M frames (the original Rainbow from Hessel et al. 2017 re

Dominik Schmidt 31 Dec 21, 2022
Convert Mission Planner (ArduCopter) Waypoint Missions to Litchi CSV Format to execute on DJI Drones

Mission Planner to Litchi Convert Mission Planner (ArduCopter) Waypoint Surveys to Litchi CSV Format to execute on DJI Drones Litchi doesn't support S

Yaros 24 Dec 09, 2022
Scripts for training an AI to play the endless runner Subway Surfers using a supervised machine learning approach by imitation and a convolutional neural network (CNN) for image classification

About subwAI subwAI - a project for training an AI to play the endless runner Subway Surfers using a supervised machine learning approach by imitation

82 Jan 01, 2023
Implementation of various Vision Transformers I found interesting

Implementation of various Vision Transformers I found interesting

Kim Seonghyeon 78 Dec 06, 2022
This is an official implementation for "PlaneRecNet".

PlaneRecNet This is an official implementation for PlaneRecNet: A multi-task convolutional neural network provides instance segmentation for piece-wis

yaxu 50 Nov 17, 2022
Knowledge Distillation Toolbox for Semantic Segmentation

SegDistill: Toolbox for Knowledge Distillation on Semantic Segmentation Networks This repo contains the supported code and configuration files for Seg

9 Dec 12, 2022
Proto-RL: Reinforcement Learning with Prototypical Representations

Proto-RL: Reinforcement Learning with Prototypical Representations This is a PyTorch implementation of Proto-RL from Reinforcement Learning with Proto

Denis Yarats 74 Dec 06, 2022
Codes for “A Deeply Supervised Attention Metric-Based Network and an Open Aerial Image Dataset for Remote Sensing Change Detection”

DSAMNet The pytorch implementation for "A Deeply-supervised Attention Metric-based Network and an Open Aerial Image Dataset for Remote Sensing Change

Mengxi Liu 41 Dec 14, 2022
MMDetection3D is an open source object detection toolbox based on PyTorch

MMDetection3D is an open source object detection toolbox based on PyTorch, towards the next-generation platform for general 3D detection. It is a part of the OpenMMLab project developed by MMLab.

OpenMMLab 3.2k Jan 05, 2023
A basic neural network for image segmentation.

Unet_erythema_detection A basic neural network for image segmentation. 前期准备 1.在logs文件夹中下载h5权重文件，百度网盘链接在logs文件夹中 2.将所有原图 放置在“/dataset_1/JPEGImages/”文件夹

1 Jan 16, 2022
Collection of Docker images for ML/DL and video processing projects

Collection of Docker images for ML/DL and video processing projects. Overview of images Three types of images differ by tag postfix: base: Python with

OSAI 87 Nov 22, 2022
The Official Repository for "Generalized OOD Detection: A Survey"

Generalized Out-of-Distribution Detection: A Survey 1. Overview This repository is with our survey paper: Title: Generalized Out-of-Distribution Detec

Jingkang Yang 338 Jan 03, 2023