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
Self-supervised learning algorithms provide a way to train Deep Neural Networks in an unsupervised way using contrastive losses

Self-supervised learning Self-supervised learning algorithms provide a way to train Deep Neural Networks in an unsupervised way using contrastive loss

Arijit Das 2 Mar 26, 2022
《Rethinking Sptil Dimensions of Vision Trnsformers》(2021)

Rethinking Spatial Dimensions of Vision Transformers Byeongho Heo, Sangdoo Yun, Dongyoon Han, Sanghyuk Chun, Junsuk Choe, Seong Joon Oh | Paper NAVER

NAVER AI 224 Dec 27, 2022
Marvis is Mastouri's Jarvis version of the AI-powered Python personal assistant.

Marvis v1.0 Marvis is Mastouri's Jarvis version of the AI-powered Python personal assistant. About M.A.R.V.I.S. J.A.R.V.I.S. is a fictional character

Reda Mastouri 1 Dec 29, 2021
A Python parser that takes the content of a text file and then reads it into variables.

Text-File-Parser A Python parser that takes the content of a text file and then reads into variables. Input.text File 1. What is your ***? 1. 18 -

Kelvin 0 Jul 26, 2021
Pytorch implementation of PCT: Point Cloud Transformer

PCT: Point Cloud Transformer This is a Pytorch implementation of PCT: Point Cloud Transformer.

Yi_Zhang 265 Dec 22, 2022
The code for Expectation-Maximization Attention Networks for Semantic Segmentation (ICCV'2019 Oral)

EMANet News The bug in loading the pretrained model is now fixed. I have updated the .pth. To use it, download it again. EMANet-101 gets 80.99 on the

Xia Li 李夏 663 Nov 30, 2022
ICNet and PSPNet-50 in Tensorflow for real-time semantic segmentation

Real-Time Semantic Segmentation in TensorFlow Perform pixel-wise semantic segmentation on high-resolution images in real-time with Image Cascade Netwo

Oles Andrienko 219 Nov 21, 2022
Fast (simple) spectral synthesis and emission-line fitting of DESI spectra.

FastSpecFit Introduction This repository contains code and documentation to perform fast, simple spectral synthesis and emission-line fitting of DESI

5 Aug 02, 2022
Vehicle detection using machine learning and computer vision techniques for Udacity's Self-Driving Car Engineer Nanodegree.

Vehicle Detection Video demo Overview Vehicle detection using these machine learning and computer vision techniques. Linear SVM HOG(Histogram of Orien

hata 1.1k Dec 18, 2022
OpenLT: An open-source project for long-tail classification

OpenLT: An open-source project for long-tail classification Supported Methods for Long-tailed Recognition: Cross-Entropy Loss Focal Loss (ICCV'17) Cla

Ming Li 37 Sep 15, 2022
The openspoor package is intended to allow easy transformation between different geographical and topological systems commonly used in Dutch Railway

Openspoor The openspoor package is intended to allow easy transformation between different geographical and topological systems commonly used in Dutch

7 Aug 22, 2022
Segmentation and Identification of Vertebrae in CT Scans using CNN, k-means Clustering and k-NN

Segmentation and Identification of Vertebrae in CT Scans using CNN, k-means Clustering and k-NN If you use this code for your research, please cite ou

41 Dec 08, 2022
Editing a Conditional Radiance Field

Editing Conditional Radiance Fields Project | Paper | Video | Demo Editing Conditional Radiance Fields Steven Liu, Xiuming Zhang, Zhoutong Zhang, Rich

Steven Liu 216 Dec 30, 2022
A modular, open and non-proprietary toolkit for core robotic functionalities by harnessing deep learning

A modular, open and non-proprietary toolkit for core robotic functionalities by harnessing deep learning Website • About • Installation • Using OpenDR

OpenDR 304 Dec 28, 2022
Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

urban_road_filter: a real-time LIDAR-based urban road and sidewalk detection algorithm for autonomous vehicles Dependency ROS (tested with Kinetic and

JKK - Vehicle Industry Research Center 180 Dec 12, 2022
Transfer Learning library for Deep Neural Networks.

Transfer and meta-learning in Python Each folder in this repository corresponds to a method or tool for transfer/meta-learning. xfer-ml is a standalon

Amazon 245 Dec 08, 2022
UniFormer - official implementation of UniFormer

UniFormer This repo is the official implementation of "Uniformer: Unified Transf

SenseTime X-Lab 573 Jan 04, 2023
A web application that provides real time temperature and humidity readings of a house.

About A web application which provides real time temperature and humidity readings of a house. If you're interested in the data collected so far click

Ben Thompson 3 Jan 28, 2022
Using LSTM write Tang poetry

本教程将通过一个示例对LSTM进行介绍。通过搭建训练LSTM网络，我们将训练一个模型来生成唐诗。本文将对该实现进行详尽的解释，并阐明此模型的工作方式和原因。并不需要过多专业知识，但是可能需要新手花一些时间来理解的模型训练的实际情况。为了节省时间，请尽量选择GPU进行训练。

56 Dec 15, 2022
This is an easy python software which allows to sort images with faces by gender and after by age.

Gender-age Classifier This is an easy python software which allows to sort images with faces by gender and after by age. Usage First install Deepface

Claudio Ciccarone 6 Sep 17, 2022