自动驾驶中MPC模型预测控制，是udacity中的开源项目。
Quizzes for Vehicle Models and Model Predictive Control sections.
- Global Kinematic Model Quiz - Implement the Global Kinematic Model.
- Polynomial Fitting Quiz - Fit and evaluate polynomials.
- Mind The Line Quiz - Implement MPC and minimize cross track and orientation errors to a straight line trajectory. See this document for setup tips for executing the plotting code in the
MPC.cppsolution file.
To do a quiz:
- Go to quiz directory.
- Make a build directory with
mkdir build. - Change into the build directory,
cd build. - Compile the project,
cmake .. && make.
A solution for each quiz is presented in the solution directory.
The Global Kinematic Quiz and Polynomial Fitting quizzes have all the dependencies in repo. For the MPC quiz you'll have to install Ipopt and CppAD. Please refer to this document for installation instructions.