Astar file contains all the files for A* algo, run astar_main to run the planning algo for the whole track. The GPS data is the data from the webots simulator mpc algo is for MPC controller - genetic algo is to tune the weights of MPC based on the cost.

First - Get the controller working properly into the webots

Webots have a time delay issue of 3 time steps If the actual car also have the similar problem -- will work on this

This implementation is taken from

[Advances in Industrial Control ] Liuping Wang (auth.) - Model Predictive Control System Design and Implementation Using MATLAB® (2009, Springer) [10.1007_978-1-84882-331-0] LINK - https://www.researchgate.net/profile/Mohamed-Mourad-Lafifi/post/How_to_design_model_predictive_controller_in_a_factory/attachment/5d2dae0b3843b0b9825ae2b9/AS%3A781245130735617%401563274762980/download/Model+Predictive+Control+System+Design+and+Implementation+Using+MATLAB_Wang.pdf

The state space eqn is of the velocity form and not position form ie state space eqn looks like eqn 1.5 in page 5 of book Notice the states - augmented matrix X = [dx , x]T

Post this code gets working on the actual vehicle -- all the previous codes will be removed.

Feedback from the car Integrating radar based distance and velocity Image classification to lock onto a target Synchtonising radar with image

Putting all together into a single system Testing and tuning