autonomous-racecar-project

Contents

1. Emergency brake (based on lidar data)

• safety_node.py

2. Right wall following by PID control (based on lidar data)

• wall_follower.py
• wall_follower_manualPID.py

3. Wall following by PID control (optimum wall(right/left) is chosen based on lidar data)

• pathplanning_ver2.0.py
• pathplanning_ver2.1.py

4. Information-Theoretic Model Predictive Control (without GPU parallel computing)

• ITMPC.py
• IT_MPC_reference_data.py (data collecting code to train racecar neural net model) cf: Very simple version, Many things to supplement :(

Result

1. Safety node

2. Wall following

3. Information-Theoretic Model Predictive Control (very simple version)

4. RCcar demo (Manually controlled)

Reference

1. 'Information Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving' https://arxiv.org/abs/1707.02342
2. MIT racecar simulator https://github.com/mit-racecar/racecar_simulator