Development of a Control Algorithm for a Driverless Vehicle using ROS

Abstract

In this project, the implementation of planning, control and estimation for autonomous vehicle using Robotic Operating System (ROS) will be addressed. The control algorithm will be based on a model predictive controller (MPC) based on a kinematic model of the vehicle and explore the possibility of using a dynamic model. The planner will provide to the MPC controller the references (set-points) of the path that the vehicle has to follow. Finally, the state estimation algorithms will be used for localizing the vehicle and providing the feedback information to the MPC controller. Validation of the proposed solution will be done in simulation and real data.