Skip to main content
To KTH's start page

2017, F1tenth Trajectory Following

This is the course project carried out in Smart Mobility Lab, KTH. This project deals with controlling the behaviour of an F1/10 RC car. In particular, it focus on trajectory following through model predictive control.

This project deals with controlling the behaviour of an F1/10 RC car, transformed to a robot. In particular, it illustrates (a) the directing and maintaining the trajectory of the vehicle to the centerline of a virtual lane using a rangefinder (LiDAR) through PID and model predictive control (MPC), and (b) the directing and maintaining the trajectory of the vehicle on the circumference of a circle using a motion capture system through model predictive control.