Project for MECH7710 - Optimal Estimation implementing trajectory replanning methods for controlling a vehicle towards a goal in the presence of other vehicles. Vehicle Parameters are from a 2003 Infiniti G35.
- 2 DOF Bicycle Model
- Class oriented approach, everything is modular
- Each vehicle is comprised of 3 things:
- motion model class (currently a bicycle model)
- Filtering class (basic kalman filter estimating remote vehicle's orientation and yaw rate)
- Navigation class (currently uses Follow-the-gap (FTG) or A*)
- Simulation can contain N number of vehicles, each with different components and goal destinations
- demo.m runs the whole simulation
- buildWorld() is where the vehicles and goal locations are created
- FilterClass stores all process and sensor noise values, as well as a generic vehicle model