https://github.com/wueestry/f110-mpcc
Model Predictive Contouring Controller to control a F110 car
https://github.com/wueestry/f110-mpcc
f110 mpc mpcc ros ros-noetic
Last synced: 3 months ago
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Model Predictive Contouring Controller to control a F110 car
- Host: GitHub
- URL: https://github.com/wueestry/f110-mpcc
- Owner: wueestry
- Created: 2023-03-14T05:50:19.000Z (about 3 years ago)
- Default Branch: main
- Last Pushed: 2024-05-14T06:59:05.000Z (about 2 years ago)
- Last Synced: 2025-04-17T18:22:49.732Z (about 1 year ago)
- Topics: f110, mpc, mpcc, ros, ros-noetic
- Language: Python
- Homepage:
- Size: 20.2 MB
- Stars: 17
- Watchers: 1
- Forks: 5
- Open Issues: 0
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Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
This repository creates a model predictive contouring controller to use on a f110th racestack.
(source: https://github.com/alexliniger/MPCC)
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The main branch is using a pacejka tire model to simulate the cars behaviour, while the additional branch `simplified_tire_model` uses a simpler, path-parametric tire model
# Setup
- install ros-noetic and f110 base system
- clone repo into catkin ws
- install python requirements by running `pip install -r requirements.txt`
- use `catkin build` to compile ros pkgs
- start mpcc node by running `roslaunch mpcc_ros mpcc_controller.launch`
# Obstacle Avoidance Demo
