Single track model

Théorie et applications physiques

Optimization-based autonomous racing of 1:43 scale RC cars 🚗 🚘 🚙 (amazing) Décrit deux méthodes de pilotage de single tracks models en temps réel.

• PDF (ne pas redistribuer): https://github.com/ByteArena/bytearena/files/1094990/article.pdf
• Article web + vidéos : http://control.ee.ethz.ch/~racing/research.php

Single tracks models Décrit la physique de déplacement des single tracks models.

• PDF: https://github.com/ByteArena/bytearena/files/1094997/9783540360445-c10.pdf

Fundamental of vehicle dynamics Décrit la réalité physique de la dynamique de véhicules à roues

• PDF: https://esfahanian.iut.ac.ir/sites/esfahanian.iut.ac.ir/files//files_course/fundamentals_of_vehicle_dynamics_-_thomas_d_gillespie.pdf
  • Chapitre 6: cornering forces

Adapté aux jeux (game vehicle dynamics sur google)

GENERIC MODEL OF VEHICLE DYNAMICS FOR LOW-COST SIMULATORS AND SERIOUS GAMES

• http://www.emp.edu.dz/Manif_Scientifique/OTEH2012/elementi/rad/3-07.pdf
• Version alternative: https://pdfs.semanticscholar.org/9138/50265bba3eda42646d875faf09dd08ac4365.pdf

Development of a car physics engine for games 👍

• https://github.com/Apress/physics-for-game-programmers/blob/master/2068.pdf
• Complété par (sous-virage, sur-virage, transfert de poids, suspensions) https://nccastaff.bournemouth.ac.uk/jmacey/MastersProjects/MSc12/Srisuchat/Thesis.pdf
• Complémenté par (Marco Monster) : http://www.asawicki.info/Mirror/Car%20Physics%20for%20Games/Car%20Physics%20for%20Games.html
• Implémentation javascript Marco Monster : https://github.com/spacejack/carphysics2d et http://www.spacejack.ca/projects/carphysics2d/ et https://github.com/SuperZako/carphysics2d/tree/master/carphysics2d
  • dérive de https://github.com/Siorki/js13kgames/tree/master/2013%20-%20staccato; documentation d'implémentation: https://github.com/Siorki/js13kgames/wiki/Staccato%2C-the-making-of
• Implémentation C Marco Monster: http://freespace.virgin.net/jackie.bangs/cardemo.zip et http://www.gamedev.net/topic/394292-demosource-of-marco-monsters-car-physics-tutorial/
• Implémentation Java Marco Monster: http://web.archive.org/web/20031206155251/http://www.cs.uni-magdeburg.de/~sodeike/java/CarPhysics/CarPhysics.html

Implementation in C#

• http://ploobs.com.br/arquivos/2278

• VDrift: OpenSource car physics simulator: https://github.com/VDrift/vdrift/

Why simulations are hard

• http://www.ode.org/slides/parc/dynamics.pdf

Achieving stable simulation (stable numeric integration)

• http://web.archive.org/web/20050204163259/http://home.planet.nl:80/~monstrous/tutstab.html

A 2D Car Physics Model based on Ackermann Steering

• http://entertain.univie.ac.at/~hlavacs/publications/car_model06.pdf

Car Physics for Games

• http://www.asawicki.info/Mirror/Car%20Physics%20for%20Games/Car%20Physics%20for%20Games.html

Implémentations

Chrono, open source physics engine

• http://www.chronoengine.info

Méthodes d'intégration numérique (utile pour la simulation physique du modèle)

• http://gafferongames.com/game-physics/integration-basics/
• http://gafferongames.com/game-physics/fix-your-timestep/
• https://github.com/giuseppemag/Game-physics

Racing AI

• Racing Game AI - Lehigh CSE - https://github.com/ByteArena/bytearena/files/1100695/RacingGames2010.pptx et https://www.google.fr/url?sa=t&rct=j&q=&esrc=s&source=web&cd=2&ved=0ahUKEwjt_Z7QhdrUAhUL2BoKHVFVClkQFggyMAE&url=http%3A%2F%2Fwww.cse.lehigh.edu%2F~munoz%2FCSE348%2Fclasses%2FRacingGames2010.pptx&usg=AFQjCNF_MzlbqWFbcr72zitsz8Wli4vInQ

• Competitive AI Racing under Open Street Conditions.

• Ribbon networks for modeling navigable paths of autonomous agents in virtual urban environments : http://ieeexplore.ieee.org/document/1191124/?reload=true

• Steering Behaviors for Autonomous Vehicles in Virtual Environments : http://homepage.divms.uiowa.edu/~kearney/pubs/SteeringBehaviorsIEEEVR05.pdf

• AI Madness: Using AI to Bring Open-City Racing to Life: http://www.gamasutra.com/view/feature/3106/ai_madness_using_ai_to_bring_.php

• Advanced collision detection technique : http://www.gamasutra.com/view/feature/3190/advanced_collision_detection_.php

• http://www.aiwisdom.com/ai_genreracing.html

• http://opensteer.sourceforge.net/doc.html

• PID controller: https://vimeo.com/38889118

Liens à trier

• http://blog.habrador.com/2015/11/explaining-hybrid-star-pathfinding.html
• https://www.youtube.com/watch?v=qXZt-B7iUyw
• http://www.habrador.com/p/self-driving-car/
• https://www.udacity.com/course/artificial-intelligence-for-robotics--cs373
• https://www.youtube.com/watch?v=5lWj1FMkq5I

Obstacle avoidance, Mathlab Code

• Code: https://bitbucket.org/kvasnica/mpc_car
• Video: https://www.youtube.com/watch?v=P1IB5H2H5sw

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Google search yielding good results on the matter https://www.google.fr/search?q=bicycle+model+car&rls=en&source=lnms&tbm=isch&sa=X&ved=0ahUKEwi8h8ij9tDUAhUrLMAKHdrQCPkQ_AUICygC&biw=1879&bih=1116

1. http://robotcontrolit.com/tutorials

2. https://www.vexrobotics.com/vexedr/competition/vrc-current-game

3. https://en.wikipedia.org/wiki/Dubins_path

4. https://en.wikipedia.org/wiki/FIRST_Robotics_Competition

5. https://gieseanw.wordpress.com/2012/11/15/reeds-shepp-cars/

6. https://gieseanw.wordpress.com/2012/10/21/a-comprehensive-step-by-step-tutorial-to-computing-dubins-paths/

7. https://github.com/THeK3nger/airoboexamples

8. https://github.com/DylanTheTactician/Holotank

9. https://github.com/442384270/spirit

10. https://github.com/bharathramh92/MotionPlanning

11. https://github.com/cranbrook-schools-robotics/holonomic

12. https://github.com/cogsys-tuebingen/cslibs_path_planning/tree/master/src/ReedsShepp

13. https://github.com/dikshya29/RRT

14. https://github.com/hazelnusse/ibde/tree/a1c4879f8e8bb3076fb64857c679aba8ced814a5

15. https://github.com/HVA-FRC-3824/2013_Robot_1/tree/7eb97190ae1c22cb2be3c5c99f7a020f83b565f0

16. https://github.com/IanBoyanZhang/readingList/blob/db8eb9a0661222adb2a143d93f00c40760343df7/ME/SystemAndControl/modelDevelopment.md

17. https://github.com/lexicon31/Non-Holonomic-Trajectory-Planning

18. https://github.com/olivierverdier/odelab

19. https://github.com/renatoorsino/Mo2DPack

20. https://github.com/rohitkalaskar/2d-curve-path-planner/wiki

21. https://github.com/ronaldahmed/robot-navigation

22. https://github.com/vasantamajety/A-star/blob/master/Planner.cpp

23. https://github.com/yibo-liang/NaiveHLDA

24. https://www.researchgate.net/figure/281741354_fig1_Fig-1-Pepper-is-a-humanoid-robot-standing-on-a-holonomic-mobile-base-equipped-with

25. https://www.youtube.com/watch?v=ypQwrFZ1yig