This project explores the implementation of various robotics concepts using MuSHR cars. The project encompasses a range of techniques in localization, control, planning, and data collection. Below is an overview of the main components:
- Localization: Implemented using a particle filter to estimate the car's position on the track.
- Data Collection: Used rosbag for efficient data recording and playback, enabling analysis and fine-tuning of algorithms.
- Control: Applied two control strategies: PID Control: A proportional-integral-derivative controller for simple closed-loop control. Model Predictive Control (MPC): A more advanced control strategy that optimizes the car's movements over a prediction horizon.
- Planning via Waypoints: Implemented waypoint-based planning to guide the car along the provided track.
This work was a part of EEP 545 Autumn 2023 collaborated with Atharva Pradhan, Soofiyan Atar and Rwik Rana under the guidance of Markus Grotz