Add example NMPC for autonomous racing cars

alphaville / optimization-engine

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

https://alphaville.github.io/optimization-engine/

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Add example NMPC for autonomous racing cars #279

Closed gsilano closed 2 years ago

gsilano commented 2 years ago

As for the title, this pull request complements the NMPC strategy and was designed for autonomous race car applications using the F1TENTH simulator to mirror vehicle dynamics. The work was accepted for publication in the 2022 edition of the IEEE International Conference on System, Man and Cybernetics (SMC)

alphaville commented 2 years ago

@gsilano this looks great! I want to make a few changes, so I'm merging this into a different branch.