Skip to main content

Control Research

This is where we will compile new possible methods and algorithms for the control team. Feel free to add sources here. When you do please leave a short description of the method and how we can use it for WUAIR.

Adding New References

Please add any research you come across! Use the same formatting as below and please leave a short description of the source to make it easy to navigate

References​

1. F1TENTH Control (MPC)​

F1TENTH Foundation. Lecture 13: Model Predictive Control. F1TENTH Course Kit. https://f1tenth-coursekit.readthedocs.io/en/stable/lectures/ModuleD/lecture13.html

  • Overview: This lecture from the official F1TENTH curriculum covers the implementation of Model Predictive Control (MPC). Unlike simpler controllers, MPC optimizes control inputs over a finite time horizon while satisfying vehicle constraints. This is the industry standard for high-performance racing and is the ultimate goal for the WUAIR control stack.

2. Pure Pursuit Overview​

Fermi, T. Algorithms for Automated Driving: Pure Pursuit. https://thomasfermi.github.io/Algorithms-for-Automated-Driving/Control/PurePursuit.html

  • Overview: A concise, mathematical explanation of the Pure Pursuit path tracking algorithm. It details the geometric derivation of the steering angle based on a "lookahead point" on the reference path. This is the baseline control algorithm we should implement and master before attempting more complex methods like MPC.