This repository runs model 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