MPC Controller

Project 5 of term 2 of Udacity self-driving car nanodegree.

Description of our implementation is available here.

Setup

This project involves the Term 2 Simulator which can be downloaded here. Follow instructions here to set up Ubuntu and Mac environments.

Usage

1. Set up project environemnt as specified above.
2. Compile the files to create the main executable of the project:
   • Make a build directory: mkdir build && cd build
   • Compile: cmake .. && make
3. Run Term 2 Simulator
4. In the simulator, press "Next" button twice to switch to Project 5, then press "Select" button.
5. Run the main executable ( build/mpc )of the project.

Files

• src - folder of source files
• mpc.mp4 - video of the car driving 3 laps using MPC controller
• writeup.md - description of implementation of MPC controller