A python ROS package for model predictive control (MPC) of an autonomous vehicle
mkdir -p ~/ws/src
cd ~/ws/src
git clone https://github.com/bearswang/mpc-ros.git
cd .. && catkin_make
Use the MPC algorithm to navigate an autonomous vehicle in the Carla Town04 map
Carla_ROS_MPC_Town04_Speed4.1.mp4
- Ubuntu 20.04
- CUDA 11.3 (Nvidia Driver 470)
- Python 3.8
- ROS Noetic
- CARLA 0.9.13
- Carla-ROS-Bridge
See the website Carla
mkdir -p ~/ros-bridge/src
cd ~/ros-bridge/src
git clone https://github.com/bearswang/ros-bridge.git
cd .. && catkin_make
cd $CARLA_ROOT
./CarlaUE4.sh
CARLA_ROOT is the root folder for Carla
cd $CARLA_ROS_BRIDGE
source devel/setup.bash
roslaunch carla_ros_bridge run_car_sim_Town04.launch
CARLA_ROS_BRIDGE is the root folder for Carla-ROS-Bridge (our forked version)
source devel/setup.bash
rosrun mpc_ros mpc_Town04_launch.py
roslaunch mpc_ros mpc_Town04.launch
MPC-ROS can reproduce the experimental results in the following paper:
@article{RDA,
author={Han, Ruihua and Wang, Shuai and Wang, Shuaijun and Zhang, Zeqing and Zhang, Qianru and Eldar, Yonina C. and Hao, Qi and Pan, Jia},
journal={IEEE Robotics and Automation Letters},
title={RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments},
year={2023},
volume={8},
number={3},
pages={1715-1722},
publisher={IEEE}
@article{CarlaMPC,
title={Collision Avoidance Predictive Motion Planning Based on Integrated Perception and V2V Communication},
author={Shiyao Zhang and Shuai Wang and Shuai Yu and James J. Q. Yu and Miaowen Wen},
journal={IEEE Transactions on Intelligent Transportation Systems},
year={2022},
volume={23},
number={7},
pages={9640-9653},
publisher={IEEE}
}
- This repo was supported by the Open Research Fund from Guangdong Laboratory of Artificial Intelligence and Digital Economy (Shenzhen) under Grant GML-KF-22-17.
- Carla
- Carla-ROS-Bridge
- RDA