An Autonomous Mobile Robot (AMR) simulation stack for ROS 2 Jazzy and Gazebo, featuring a full Nav2 integration, MPPI control, and a custom state-machine for battery-aware autonomous docking.
Python battery pack simulator: ECM electro-thermal model, RTE, BMS, thermal runaway, drive cycles, EV/grid/UPS analysis.
Modular lithium-ion battery model including SOC/OCV modelling, CC/CV charging, cycle based degradation, calendar ageing, Arrhenius based capacity degradation and temperature dynamics modelling.
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