Animation

A Python description of the Kinematic Bicycle Model with an animated example

Kinematic Bicycle Model

A Python description of the Kinematic Bicycle Model with an animated example.

animation

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]


 


 




 


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