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cpprobotics icon cpprobotics

cpp implementation of robotics algorithms including localization, mapping, SLAM, path planning and control

mpcc icon mpcc

Model Predictive Contouring Controller (MPCC) for Autonomous Racing

routing_planning icon routing_planning

对A*算法做出优化：加入靠近路沿的启发函数，并对生成的轨迹点做了均值滤波处理，使轨迹更加平滑。在c++、ros环境下，使用purepursuit算法对spline生成的样条曲线进行了路径跟踪、使用lqr算法对生成的五次多项式轨迹进行横向路径跟踪。

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