An implementation of vehicle dynamics models with casadi
An example of a simple vehicle doing collision avoidance (example 2):
This repo uses the MATLAB Interface of Casadi to implement vehicle dynamics and do interesting simulations such as vehicle collision avoidance.
To get quickly started, open your MATLAB and navigate to the examples folder, open one of the following MATLAB livescript files and just hit Run:
ex1_static_obstacle % box-like simple vehicle (5-states) avoiding a static obstacle
ex2_moving_obstacle % box-like simple vehicle (5-states) avoiding a moving obstacle
ex3_static_obstacle_linear_tire % vehicle with a linear tire model (9-states) avoiding a static obstacle
[-] (resolved) Currently, example 1 and example 2 works fine, but example 3 is struggling with feasible Casadi solutions. Any help is appreciated.