Hierarchical Model Predictive Control for the F1/10 autonmous car
High-level Trajectory Planner: At every time instance, select from a trajectory that maximizes progress along track centerline from a precomputed table of feasible trajectories.
Low-level MPC tracking controller: The MPC generates a dynamically feasible trajectory that tracks the reference trajectory given by the high level planner while satisfying all constraints.
For obstacle avoidance, RRT* is incorparated to provide convex feasible space constraints in real time to MPC based on LiDAR feedbacks.
Testing on the car:
Head-to-head Racing:


