MPC-Car-Simulation

This is a repository for a course project. The basic framework is from official implementation - Udacity. The compilation is referred to an other repository. I just finished the optimization code about the mpc controller. The visualization is an open-sourced simulator from Udacity too.

Basic Build Instructions

1. Prepare the compilers sudo apt install cmake gcc g++ gfortran cppad
2. Clone this repo with the submodules recursively git clone --recurse-submodules https://github.com/Wsine/mpc-car-simulation.git
3. Execute ./install_ipopt.sh and ./install_uwebsocket.sh individually.
4. Make a build directory: mkdir build && cd build
5. Compile: cmake .. && make
6. Run it: ./mpc.

Then, download the simulator from this release page and try it.

The repository is tested under a pure ubuntu 18.04 environment.