Kinematic Bicycle Model
A Python description of the Kinematic Bicycle Model with an animated example.
Abstract
A python library for the Kinematic Bicycle model.
:param x: (float) vehicle's x-coordinate
:param y: (float) vehicle's y-coordinate
:param yaw: (float) vehicle's heading [rad]
:param v: (float) vehicle's velocity in the x-axis [m/s]
:param throttle: (float) vehicle's forward speed [m/s]
:param delta: (float) vehicle's steering angle [rad]
:param L: (float) vehicle's wheelbase [m]
:param max_steer: (float) vehicle's steering limits [rad]
:param c_r: (float) vehicle's aerodynamic coefficient
:param c_a: (float) vehicle's coefficient of resistance
:param dt: (float) discrete time period [s]
:return x: (float) vehicle's x-coordinate
:return y: (float) vehicle's y-coordinate
:return yaw: (float) vehicle's heading [rad]
:return v: (float) vehicle's velocity in the x-axis [m/s]
:return delta: (float) vehicle's steering angle [rad]
:return omega: (float) vehicle's angular velocity [rad/s]
Requirements
# Install NumPy
$ pip install numpy
Usage (for Animation)
This animation is inspired by Atsushi Sakai.
# Install requirements.txt
$ pip install -r requirements.txt
# Play the animation
$ python animation.py
Concept
