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MPC node for the car #15

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Oluwatoni opened this issue Apr 25, 2018 · 0 comments
Open

MPC node for the car #15

Oluwatoni opened this issue Apr 25, 2018 · 0 comments
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Intelligent Motion

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Oluwatoni commented Apr 25, 2018 •
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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%?
@Oluwatoni Oluwatoni changed the title MPC controller node for the car MPC node for the car Apr 25, 2018
@Oluwatoni Oluwatoni added this to the Intelligent Motion milestone Apr 25, 2018
@Oluwatoni Oluwatoni self-assigned this Jun 19, 2018
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