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License: MIT License
Written By: Abhijeet Kulkarni ([email protected]) For: Research Project at UD Title: Autonomous driving using Model Predictive Contouring Control. Video: https://youtu.be/h1aBeLiF1O8 Files: ¦ Main.py #Main File ¦ ReadMe.txt ¦ requirements.txt #Contains requirements of packages to run the Main.py ¦ weights.txt #Contains weights and parameters for different behaviour. Trial and error. +---functions ¦ alpha2data.dill #Generated lambdified symbolic function for slip angle. Generated in Dynamics.ipynb ¦ Car_Dynamics.py #Contains vehicle dynamics parameters. ¦ DiscDynaMatrices.dill #Generated lambdified symbolic function for disceret dynamics's matrics . Generated in Dynamics.ipynb ¦ Dynamics.ipynb #File to generate .dill files. ¦ ErrorsLindata.dill #Generated lambdified symbolic function for linearized error. Generated in Dynamics.ipynb ¦ eta_dot.dill #Generated lambdified symbolic function for simulation of nonlinear vehicle. . Generated in Dynamics.ipynb ¦ HelpingFunctions.py #Contains auxilary functions. ¦ MPCCFunctions.py #Contains object for the model predictive contouring control. ¦ +---results #Contains results presented in the final report. Procedure: 1) Install packages listed in requirements.txt 2) Run functions/Dynamics.ipynb to generate lambdified symbolic functions if .dill files not present in functions/ 3) Run Main.py
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