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},
}