This submission contains a model to show the implementation of MPC on a vehicle moving in a US Highway scene. Steps below describe the workflow:
1. Generating waypoints
2. Calculating curvature for MPC implementation
3. Generating MPC pedal map
4. Visualizing vehicle final path in 2D, Bird's-Eye Scope and a 3D simulation environment.
The users can refer this model to perform path tracking applications for a given waypoints. The results can be visualized in a 2D plot that compares the obtained and the reference trajectory.
Please go through the readme file for more details on how to use the model and how to tune the controller: https://github.com/mathworks/vehicle-model-predictive-control
MathWorks Student Competitions Team (2021). Vehicle Path Tracking Using Model Predictive Control (MPC) (https://github.com/mathworks/vehicle-model-predictive-control/releases/tag/v1.0.1), GitHub. Retrieved .
Thanks for the feedback Jayasri. We have added a simple model where the vehicle tracks a figure-eight course (two circles). Please feel free to try it out and share your feedback.
The model works excellent and it will be more useful for us if you can provide the Circular Path to this model.
Thanks for reaching out.
Could you please elaborate on your query? You can also reach out to us at firstname.lastname@example.org with all the details.
Find the treasures in MATLAB Central and discover how the community can help you!Start Hunting!