ackermannCar_MPC

MPC Trajectory Tracking for Ackermann Steering Vehicles

Overview

This project implements a Model Predictive Control (MPC) algorithm for trajectory tracking of vehicles with Ackermann steering geometry.

Installation

1. Clone the repository:

   mkdir -p ~/<workspace>/src
   cd ~/<workspace>/src
   git clone https://github.com/SunnyProdefi/ackermannCar_MPC.git

2. Install dependencies:

   sudo apt-get update
   sudo apt install ros-noetic-joint-state-publisher-gui
   sudo apt install ros-noetic-ros-control
   sudo apt install ros-noetic-ros-controllers
   sudo apt install ros-noetic-gmapping
   sudo apt install ros-noetic-ackermann-msgs
   sudo apt install ros-noetic-navigation
   sudo apt install ros-noetic-teb-local-planner

3. Build the project:

   cd ~/ackermannCar_MPC
   catkin_make
   source devel/setup.bash

Usage

Running the Simulation

Launch the simulation environment:

roslaunch racebot_gazebo racebot.launch

Run the MPC controller:

rosrun racebot_control mpc

License

This project is licensed under the MIT License. See the LICENSE file for more details.