ahracho/CarND-MPC-Project

CarND Term 2 Model Predictive Control (MPC) Project

MPC Project

Overview

This repository is for the project of Udacity Nanodegree - Self-driving Car Engineer : MPC Proejct. It is forked from https://github.com/udacity/CarND-MPC-Project).

The goals / steps of this project are the following:

• Understand how MPC works in Vehicle Control
• Implement MPC in C++ and apply it to the simulator

File Structure

• main.cpp - communicates with the Simulator receiving data measurements, calls a function to run MPC
• MPC.cpp - Calculates cost and predict new actuator values

Dependencies

• cmake >= 3.5

• All OSes: click here for installation instructions

• make >= 4.1(mac, linux), 3.81(Windows)

  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions

• gcc/g++ >= 5.4

  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - [install Xcode command line tools]((https://developer.apple.com/xcode/features/)
  • Windows: recommend using MinGW

• uWebSockets

  • Run either install-mac.sh or install-ubuntu.sh.
  • If you install from source, checkout to commit e94b6e1, i.e.

    git clone https://github.com/uWebSockets/uWebSockets
    cd uWebSockets
    git checkout e94b6e1
    

    Some function signatures have changed in v0.14.x. See this PR for more details.

• Ipopt and CppAD: Please refer to this document for installation instructions.

• Eigen. This is already part of the repo so you shouldn't have to worry about it.

• Simulator. You can download these from the releases tab.

• Not a dependency but read the DATA.md for a description of the data sent back from the simulator.

Basic Build Instructions

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Compile: cmake .. && make
4. Run it: ./mpc.