This repo is for an optimal local path planning algorithm deployed in F1tenth Rviz.

roslaunch f110_simulator simulator.launch

roslaunch f110_simulator wall_follow.launch

roslaunch f110_simulator stanlley_controller.launch

roslaunch f110_simulator frenet_controller.launch

The wall following algorithm is to implement a Proportional Integral Derivative (PID) controller to make the F1tenth drive parallel to the walls of a corridor at a fixed distance.

Based on the predefined way points, the Stanley Controller is deployed to track the global path.

An optimal local path planning has been designed in the Frenet frame, then the best path is selected by the cost function.

The max gap is to find the maxmium gap range ahead of the vehicle.

This part integrate Auto Emergency Brake (AEB), path planning and Perception together.