Git Product home page Git Product logo

model-predictive-contouring-control-of-autonomous-vehicle's Introduction

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

model-predictive-contouring-control-of-autonomous-vehicle's People

Contributors

aamanku avatar

Stargazers

avatar Zihong Yan avatar Chrysostomos Karakasis avatar Steve_Li avatar avatar Isaac Kargar avatar Akshay Aggarwal avatar

Watchers

James Cloos avatar avatar

Forkers

mr-d-self-driving

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.