motorcycle_mpc

motorcycle control by model predictive control

demo.mp4

installation

Recommended to run under virtual environment (venv or docker)

venv ver

git clone https://github.com/dlab-ut/motorcycle_mpc
cd motorcycle_mpc

python3 -m venv .venv
source .venv/bin/activate
pip3 install -e .[dev]

docker ver (TODO)

usage

# demo 
python3 src/pathTrack/pathTrack.py course1 -g

• [course1, course2]
• gui

simulation config

config.py

reference

• 3d model Autonomous bicycle (Apache License 2.0)
• cubic_spline_planner PythonRobotics (MIT License)

paper

https://ieeexplore.ieee.org/abstract/document/10316887

Aknowledge

This work was supported by JSPS KAKENHI Grant Number 23K03896.