A Modular and Extensible Open-Source Framework for Creating Bicycle-Rider Models.
Links with more information:
This package is still under development, therefore there is no guarantee on backward compatibility.
BRiM is currently not available on PyPI. Therefore, you'll need to install the
development version from GitHub using:
pip install git+https://github.com/mechmotum/brim.gitThe optional dependencies can be installed with:
pip install git+https://github.com/moorepants/BicycleParameters.git
pip install symmeplotContributions are welcome! Please refer to the contributing page for more information.
If you use BRiM in your research, please cite the following paper:
@inproceedings{stienstra_2023_brim,
title = {BRiM: A Modular Bicycle-Rider Modeling Framework},
abstract = {The development of computationally efficient and validated single-track vehicle-rider models has traditionally required handcrafted one-off models. Here we introduce BRiM, a software package that facilitates building these models in a modular fashion while retaining access to the mathematical elements for handcrafted modeling when desired. We demonstrate the flexibility of the software by constructing the Carvallo-Whipple bicycle model with different numerical parameters representing different bicycles, modifying it with a front fork suspension travel model, and extending it with moving rider arms driven by joint torques at the elbows. Using these models we solve a lane-change optimal control problem for six different model variations which solve in mere seconds on a modern personal computer. Our tool enables flexible and rapid modeling of single-track vehicle-rider models that give precise results at high computational efficiency.},
keywords = {Bicycle Dynamics, BRiM, Computational Modeling, Open-source, SymPy, Simulation, Trajectory Tracking Problem},
author = {Timótheüs J. Stienstra and Samuel G. Brockie and Jason K. Moore},
booktitle = {The Evolving Scholar - BMD 2023, 5th Edition},
year = {2023},
language = {en},
doi = "10.59490/6504c5a765e8118fc7b106c3",
}