MPC Controller
Project 5 of term 2 of Udacity self-driving car nanodegree.
Description of our implementation is available here.
Setup
This project involves the Term 2 Simulator which can be downloaded here. Follow instructions here to set up Ubuntu and Mac environments.
Usage
- Set up project environemnt as specified above.
- Compile the files to create the main executable of the project:
- Make a build directory:
mkdir build && cd build
- Compile:
cmake .. && make
- Make a build directory:
- Run Term 2 Simulator
- In the simulator, press "Next" button twice to switch to Project 5, then press "Select" button.
- Run the main executable ( build/mpc )of the project.
Files
- src - folder of source files
- mpc.mp4 - video of the car driving 3 laps using MPC controller
- writeup.md - description of implementation of MPC controller