This is Team 2's final project git repository for ROB535: Self-Driving Cars.

In this project, we control a 6-state bicycle to race while avoiding random obstacles using MPC.

The team members include: Ziqi Han, Siyuan Yin, Qilin He, Yifan Wang, Yuzhou Chen.

Project details and task requirements can be found here.

Add directories src and trajectories to path.

execute run.m

To generate gif for visualization:

execute make_gif.m

• For task1:

• For task2:

• Report of Ziqi Han
• Report of Siyuan Yin
• Report of Qilin He
• Report of Yifan Wang
• Report of Yuzhou Chen

• 1. Finish writing PID control for part1.

• 2. Use PID control for part2.

  • 2.1 Debug.
  • 2.2 Test for success rate and time => This method is abandoned.

• 3. Use fmincon for part2.

  • 3.1 Finish writing constraints.
  • 3.2 Debug => This method is abandoned.

• 4. Use MPC for part2.

  • 4.1 Generate reference trajectory for MPC.
  • 4.2 Debug.
  • 4.3 solve QP no solution problem.
  • 4.4 Test for success rate and time.

• 5. Upload and Report.

  • 5.1 Draw trajectory.
  • 5.2 Write Report and Upload code.

• 6. Use MPPI for part2.

  • 6.1 Write Cost function.
  • 6.2 Write MPPI loop.
  • 6.3 Test for success rate and time.