epoxx-arch/F1Tenth-Adaptive-Planning-with-Model-Predictive-Control

F1/10 Model Predictive Control and Adaptive Planning

Team Members: Ruchi Gupte, Kausik Sivakumar, Shubham Gupta

Link to Report: here

Link to Results and Testing: Youtube Link

Overview

Designed a model racecar with ROS2 using MPC with a kinematic bicycle model and a global optimal trajectory. Local trajectory planning with cubic splines for dynamic obstacle avoidance. Lidar SLAM for mapping. Localization using Particle Filter.