hxhhy/mpc_av

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

mpc_av

This repository runs modern 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)

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