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Model Predictive Contouring Controller to control a F110 car

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This repository creates a model predictive contouring controller to use on a f110th racestack.

(source: https://github.com/alexliniger/MPCC)


The main branch is using a pacejka tire model to simulate the cars behaviour, while the additional branch simplified_tire_model uses a simpler, path-parametric tire model

Setup

  • install ros-noetic and f110 base system
  • clone repo into catkin ws
  • install python requirements by running pip install -r requirements.txt
  • use catkin build to compile ros pkgs
  • start mpcc node by running roslaunch mpcc_ros mpcc_controller.launch

Obstacle Avoidance Demo

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Model Predictive Contouring Controller to control a F110 car

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