Control steer and throttle of UGV to track the reference path based on model predictive controller

Requirements

• C++ compiler (support C++11)
• boost library (version 1.61)
• inertial_lidar codes

Getting started

• download boost library : contact 15lwang@tongji.edu.cn
• download arm-gcc cross-compiler : contact 15lwang@tongji.edu.cn
• install eclipse
• clone inertial_lidar project, then, put into Include/dependency directory

For Ubuntu Eclipse

• uncompress imx6-arm-gcc.tar.bz2

tar jxvf imx6-arm-gcc.tar.bz2

• modify configuration file, setup the environment variables

gedit environment-setup-cortexa9hf-vfp-neon-poky-linux-gnueabi
modify the related terms and save
source environment-setup-cortexa9hf-vfp-neon-poky-linux-gnueabi

• Open project

 ./eclipse
 File -> Import -> General -> Existing Projects into Workspace
 Select root directory -> browse(UGV_model_predictive_control directory) -> Finish

• configure the project and compile

 Right click the project -> Properties -> C/C++ General -> Paths and Symbols
 Modify Includes and Library Paths
 Run build(Release)

Usage examples

Help and Support

contact: 15lwang@tongji.edu.cn