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vehicle_control_project's Introduction

Vehicle Control Project

(from 24-677 Modern Control Theory @ Carnegie Mellon University Fall 2022)

Autonomous vehicle control through LQR and EKF SLAM (tested in Webots)

The controller python file has been uploaded to src. Other necessary files such as utility, base_controller, Webots World & Textures files, etc. have not been uploaded here since they are not owned by me.

Demonstration - LQR + EKF for SLAM

LQR_EKF_SLAM_Demo_GIF

Evaluations

Results_1 Results_2

Problem Approach

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