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Model Predictive Controller for Local Trajectory Generation and Tracking of Autonomus Vehicles

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YashTrikannad/mpc_av

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mpc_av

This repository runs model predictive controller for trajectory generation and tracking of Autonomus Vehicles. Note: This repository uses cvxgen to solve mpc optimization equations which requires a license (/acadmeic license)

mpc example gif

How to use:

  • Go To catkin_ws:
cd catkin_ws/src
  • Clone the current Repository:
git clone https://github.com/YashTrikannad/mpc_av.git
  • Clone the Repository for the F110 Simulator:
git clone https://github.com/mlab-upenn/racecar_simulator.git
cd ..
catkin_make
  • Run the simulator:
roslaunch racecar_simulator simulator.launch
  • Run the mpc controller
roslaunch mpc_av mpc_av.launch
  • Press n to start the car

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Model Predictive Controller for Local Trajectory Generation and Tracking of Autonomus Vehicles

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