Model Predictive Control -- MPC

Full Video on YouTube

Objective

Implement Model Predictive Control to drive the car around the track. This time however you're not given the cross track error, you'll have to calculate that yourself! Additionally, there's a 100 millisecond latency between actuations commands on top of the connection latency.

What I Learned

• Implimented Model Predictive Controller
• Cost function based motion
• Fitting Polynomials
• Following Trajectories
• Kinematic and Dynamic vehicle models

Languages

C++

Included Files

main.cpp -- Interfaces with the simulator, connects to the MPC, sends steering and throttle information to the simulator
MPC.cpp -- Handles MPC calculations
WriteUp.md -- Full write up