MonoSIM: An open source SIL framework for Ackermann Vehicular Systems with Monocular Vision

• URL: http://arxiv.org/abs/2603.23965v1
• Date: Wed, 25 Mar 2026 05:59:30 GMT
• Title: MonoSIM: An open source SIL framework for Ackermann Vehicular Systems with Monocular Vision
• Abstract summary: The proposed framework focuses on simplicity, while making it easy to work with small-scale experimental setups, such as the XTENTH-CAR platform.<n>The platform supports a flexible algorithm testing and validation environment, allowing researchers to implement and compare various control strategies.<n>The results confirm that the platform provides a reliable environment for algorithm verification, making it an ideal tool for future multi-agent system research, educational purposes, and low-cost AGV development.
• Score: 0.0
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: This paper presents an open-source Software-in-the-Loop (SIL) simulation platform designed for autonomous Ackerman vehicle research and education. The proposed framework focuses on simplicity, while making it easy to work with small-scale experimental setups, such as the XTENTH-CAR platform. The system was designed using open source tools, creating an environment with a monocular camera vision system to capture stimuli from it with minimal computational overhead through a sliding window based lane detection method. The platform supports a flexible algorithm testing and validation environment, allowing researchers to implement and compare various control strategies within an easy-to-use virtual environment. To validate the working of the platform, Model Predictive Control (MPC) and Proportional-Integral-Derivative (PID) algorithms were implemented within the SIL framework. The results confirm that the platform provides a reliable environment for algorithm verification, making it an ideal tool for future multi-agent system research, educational purposes, and low-cost AGV development. Our code is available at https://github.com/shantanu404/monosim.git.

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