bicycle-model

Path tracking with dynamic bicycle models

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

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

Supports the various URDF and GAZEBO mobile robot model

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

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

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

Model Predictive Control (MPC) for kinematic bicycle model

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

2D kinematic bicycle model in JS

Repo for the Bikestream project (aka Databike Pilot Project)

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

Building models that capture vehicle dynamics

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

Coursera specialization

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

A Python implementation of a hybrid Nonlinear / Linearized Model Predictive Controller (MPC) for autonomous vehicle trajectory tracking. The controller uses an event-trigger mechanism to intelligently switch between two MPC formulations — balancing computational efficiency with tracking accuracy in real time.

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

Python/OpenCV/Pygame simulation of a lane-keeping + traffic-light-response autonomous vehicle pipeline, structured as an explicit ROS 2-style node/topic graph with a classical CV perception stack and a tunable PID controller.

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