Vehicle Control - Model Predictive Control Project

In this project my goal is to be able to model the dynamics of a vehicle and implement a custom Model Predictive Control algorithm to optimally steer and control a vehicle.

Check out the writeup PDF to learn how this algorithm works.

Video Results:

The result of this project can be seen here:

https://www.youtube.com/watch?v=qkMhKVdY1F0