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README.md

Model Predictive Controller

This is my somewhat incorrect, but working implementation of a model predictive controller. It's done this way because it seems to match better the physics of the simulator, the non-linear relationship between acceleration and throttle, and the actual delays in the system.

Model Predictive Controller

Building

The program needs:

If they are installed in system directories, they should be picked up automatically. Otherwise use UWEBSOCKETS_ROOTDIR and NLOHMANNJSON_ROOT_DIR. On MacOS, you may need to set OPENSSL_ROOT_DIR as well.

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Udacity Self-Driving Car ND Project - Model Predictive Controller

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