tudoroancea / ihm2

Display of my skills in optimal control for autonomous race cars

MIT License

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Implement IHM2 controller with FKin6 model #10

Closed tudoroancea closed 8 months ago

tudoroancea commented 1 year ago

Goal

First implementation of the principal goal of this repo: develop new fancy controllers.

Implementation

For the moment, the acados ocp solver is generated for a particular track because of the splines embedded in the model. Either we find a way to provide the parameters of those splines at runtime, or we generate several controllers. Cf issue #6