For our final project, we attempt to implement a Closed-loop RRT planner along with an MPC controller that will help in following the trajectory generated by a raceline optimizer.
The gym_pp folder contains code to run the pure pursuit algorithm in the gym environment.
The gym_rrt folder contains the code to run the rrt* algorithm
The planner folder contains the code for the final race
- Follow the gap with multiple tracks
- Implement prediction for opponent car
- Incorporate prediction into follow the gap
- Generate a high level path using Dubins curve for MPC to track (Backup: Use RRT*)
- MPC