Implementation of vessels models with varying abstraction levels.
Project description
Python Vessel Models of CommonOcean
This package contains all vessel models of the CommonOcean benchmarks. The code is based on the CommonRoad vehicle models repository. We provide implementations of the vessel dynamics and vessel parameters.
Documentation
For a detailed explanation of the vehicle models, please have a look at the documentation.
Installation
To use vehicle models and parameters, run
pip install commonocean-vessel-models
Code examples
For an extended simulation example, we refer to our gitlab repository. A simple simulation example for using the point-mass model in combination with an odeint solver would be
from scipy.integrate import odeint
import numpy
from vesselmodels.parameters_vessel_1 import parameters_vessel_1
from vesselmodels.vessel_dynamics_pm import vessel_dynamics_pm
def func_PM(x, t, u, p):
f = vessel_dynamics_pm(x, u, p)
return f
tStart = 0 # start time
tFinal = 1 # start time
# load vehicle parameters
p = parameters_vessel_1()
# initial state for simulation
x0_PM = [0, 0, 10.0, 0.0]
t = numpy.arange(0, tFinal, 0.01)
u = [1.4, 0]
x = odeint(func_PM, x0_PM, t, args=(u, p))
Contribute
If you want to contribute new vessel models, you can create a merge request in our repository, or contact us via mail.
Contibutors and Reference
We thank all the contributors for helping develop this project (see contributors.txt). If you use our converter for research, please consider citing our paper:
@inproceedings{Krasowski2022a,
author = {Krasowski, Hanna and Althoff, Matthias},
title = {CommonOcean: Composable Benchmarks for Motion Planning on Oceans},
booktitle = {Proc. of the IEEE International Conference on Intelligent Transportation Systems},
year = {2022},
}
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