F1TENTH Autonomous Racing: Model Predictive Control

F1TENTH Autonomous Racing Course - Lecture 16 Topic: Model Predictive Control Lecturer: Rahul Mangharam ▬ Content ▬▬▬▬▬▬▬▬▬▬▬▬▬▬▬▬▬ 0:00 Introduction and Wrap up 24:01 Lecture Overview 24:34 MPC Introduction 28:34 MPC vs. PID 36:42 MPC Concept 45:19 MPC Optimization Problem Formulation 1:09:16 Quadratic Programming Overview 1:24:26 MPC Implementation in F1/10 2:05:05 System Dynamics Basics 2:11:32 Question and Answer Session