MichalTesnar / Racing-MPC

Remmen is angst, gang is alles. We go brrrrrrrrrrrrrr!

Optimal Racing Using Model Predictive Control

What is this?

In this project, we are trying to utilize model predictive control in order to make a car pick steering commands which make it race optimally on a simulated track.

What do I need?

• Matlab (developed in 2022b, I am unsure about backwards compatibility),
• Matlab Optimization Toolbox version 9.4.,
• Statistics and Machine Learning Toolbox version 12.5.

What to run?

Firstly, go to /utils and run precompute_grid.m, make sure to add /utils to the MATLAB path.

Then comeback to the main folder, now you can choose to run any of the three solutions:

• execute solution_1_simple_grid_search.m for simplest solution to the MPC that generates valid but suboptimal trajectories,
• execute solution_2_recursive_search.m for more complex solution that solves the MPC more optimally, but very slow,
• execute solution_3_fmincon.m for continuous optimization using fmincon, which achieves the best results.

Mentions & Contributions

This is a Second-Year Research Project at Honours College of Rijksuniversiteit Groningen, carried in the academic year 2022/23.

Author: Michal Tešnar (Personal Website)

Supervisor: Bart Besselink (Personal Website)

Honorable Mentions: Jiri Kosinka (Personal Website) for quick consulation and good practical tips.