Driving MPC

This is my Fall 2022 project at the Robotic Exploration Lab at CMU. Some key points:

• Employed ALTRO, an augmented Lagrange iLQR algorithm, to solve constrained trajectory optimization problems for autonomous driving applications, using bicycle models.
• Investigated local planning and control frameworks, such as time-varying LQR and model predictive control (MPC) using OSQP, to ensure safe and efficient operation, while handling control limits and obstacles.
• Algorithms and 3D visualization are implemented in Julia.