A self contained python codebase to act as a platform to experiment with motion control implementations. This aims to have as few dependencies as possible and be compatible with both Linux and Windows. To run, type python main.py into the command line.
- Python 3.6+
- PySimpleGUI
- pynput
This uses standard SI units, so radians, m/s and m/s^2
Normal maths like coordinate system is used: The x-axis is positive to the right and the y-axis is positive upwards. Angles are positive anticlockwise.
Your task is to finish the implementation of this class, so that the car can successfully go around the track
A class that the user should extend and implement their own functions into in order to make everything work. You should take in the car's position and reference waypoints, and then output steering & throttle controls to follow the waypoints.
Ideas of types of controllers to look at for inspiration:
- Pure Pursuit
- Stanley
- PID
Note: The vehicle model (phyics) here are very simplified, so much of what you see online may be overly complicated
The framework for this has already been implemented for you, but feel free to extend it as you wish. The only thing you need to do is to complete the get_controls() function that's in the MotionController class. That function also contains some additional comments to explain what the car's position and reference waypoints actually are.
Implements a kinematic bicycle model that takes in a thottle and steering input between [-1, 1]. There is nothing implementing drag, so this will go infinitely fast if you hold down the throttle.
Takes in the cars current state and gives a list of waypoints in the form [x, y, target_velocity]. The waypoints have been precomputed for simplicity.
Visualizes the cones on the track, the car's current position, and the reference waypoints.
Overrides the Motion Controller, and allows the user to control the vehicle model with the keyboard. Use WASD or Arrows.
To use this, type python main.py keyboard into the command line.