This repository was archived by the owner on Dec 20, 2020. It is now read-only.
MPC node for the car #15
Description
Similar to the controller described here
Would better account for the dynamics of our vehicle
Acceptance Criteria
Inputs
- Pose w.r.t path (x,y,theta)
- Velocity
Outputs
- Steering
- Velocity
There should be a noticeable performance improvement over the current system(only pid for velocity and open loop steering controls). Expected to reduce the time taken to complete the track by up to 15%?