This repo contains example applications using the MSU Autonomous Vehicle Simulator (MAVS).
MAVS is a software library for simulating autonomous ground vehicles in off-road terrain. MAVS simulates the sensors, vehicle, and environment. It uses physics-based models to simulate camera, lidar, and radar interacting with environmental features such as rain, dust, and fog.
These examples use the Python interface to MAVS, MavsPy.
MavsPy can be installed using the Python package installer, PiP, with the following command:
$pip install mavspy
Once installed, these examples can be run using Python:
$cd PythonExamples
$python mavs_driving_example.py
Note - MAVS may create a file called "mavs_config.txt" in your local directory when it runs. It points Python to the local installation of your MAVS data directory.
If you use MAVS for your research, please cite the following:
- Hudson, C., Goodin, C., Miller, Z., Wheeler, W., & Carruth, D. (2020, August). Mississippi state university autonomous vehicle simulation library. In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (pp. 11-13).
- Goodin, C., Carruth, D. W., Dabbiru, L., Hudson, C. H., Cagle, L. D., Scherrer, N., ... & Jayakumar, P. (2022, June). Simulation-based testing of autonomous ground vehicles. In Autonomous Systems: Sensors, Processing and Security for Ground, Air, Sea and Space Vehicles and Infrastructure 2022 (Vol. 12115, pp. 167-174). SPIE.
Software documentation for the MAVS library is here:
https://mavs-documentation.readthedocs.io/en/latest/
The MAVS-API is documented here: