PythonVehicleControl is an environment for experimentation of control algorithms and data visualization of autonomous vehicles. This project provides: 1. Simulation environment (i.e. dynamics model, path planning & control algorithms) 2. Declarative visualization (i.e. animated 3D objects and 2D graphs) 3. Interactive GUI The project is written in python and is a casual attempt to solve some of the daily challenges in desigining control algorithms for autonomous vehicles and visualizing their data in a modulalar and reconfigurable manner.

This project is being developed with Python 3 and uses PythonRobotics (https://github.com/AtsushiSakai/PythonRobotics) as a submodule. For visualization, pyqtgraph is used. For a detailed list of dependencies, please refer to the requirements.txt file.

To install this project, first download with the following url.

git clone --recurse-submodules https://github.com/yongkyuns/PythonVehicleControl.git

Move to the downloaded folder.

cd PythonVehicleControl

Then install the required packages.

pip install -r requirements.txt 
pip install git+https://github.com/pyqtgraph/pyqtgraph.git@develop

Now we are ready to run!

To run the simulator, use the following shell commands in the project directory:

python main.py

For a more detailed documentation, please refer to https://pythonvehiclecontrol.readthedocs.io/en/master/#

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

MIT