SAE-GFR Integration of Raceline Optimization and controls into ROS

Raceline optimization, which is solving for the fastest path and controls through a race track, is essential in order to be fast. Doing so accurately enough under computational constraints is a challenge. Previous years have shown that using ForcesPro, a commercial optimization software, is a promising approach to improve our performance, but it currently isn't integrated with our autonomous stack. The tasks for this year are integrating ForcesPro into our ROS workspace, getting it running on the car, and optimizing the cost function used in the controller.

Objectives


  • Fall
    • Background research of previous projects and relevant papers completed.
    • Github and development environment set up.
    • ROS tutorial and assignment completed.
    • Design changes conceptualized.
    • Practice for participation in rules quiz.
    • Documentation for any changes made during Fall.
  • Winter
    • Final documentation for code completed - details on wiki as well.
    • Testing and benchmarking completed and documented.
    • UML Diagram detailing system.
    • Final edits to the code by May.

Motivations


Integrating the raceline optimization with our current setup will allow the autonomous race car to complete runs faster. 

Qualifications


Minimum Qualifications:
None Listed

Preferred Qualifications:
None Listed


Details


Project Partner:

Marcus Wheeler

NDA/IPA:

No Agreement Required

Number Groups:

1

Project Status:

Accepting Applicants

Website:
https://www.global-formula-racing.com/en/
Card Image Capstone