This project demonstrates an algorithm that can determine a near-optimal racing trajectory in ca. 50ms. It is explained in my bachelor's thesis (Mirror).
To run this code you need:
- MATLAB (Tested with version R2017a)
- IBM ILOG CPLEX Optimization Studio (Tested with version 12.6.3)
Without CPLEX, the MATLAB function quadprog is used as a fallback. CPLEX is free for academics, search for "IBM Academic Initiative".
This project is licensed under the MIT License, see the LICENSE file for details.