LQR-based Path Tracking for MEAM 517 Final Project

Development is based on the repository of the F1TENTH Gym environment. You can find the documentation of the environment here.

Installation

We modified the original installation setup as the new conda environment in Windows system. After download the repository, install anaconda and WSL. This page might help you in configuring the environmental variable of anaconda.

If you use powershell, you can follow this page as administrator to enable changes for configuring anaconda.

For Windows 11 + latest Anaconda, first, make sure the conda can get into the "base" env with the help of this page:

cmd /k "C:\ProgramData\Anaconda3\Scripts\activate.bat C:\ProgramData\Anaconda3

Then, open "command prompt" as administrator, and type in following commands:

conda activate  # enter base env
conda update --all  # update all the stuff

Thanks to the help of this page.

Configure the environment as follows:

cd <repo_name>  # navigate to the root directory of this project
conda create -n f110_lqr python=3.8  # create a new conda environment with Python 3.8
conda activate f110_lqr  # activate the environment
pip install -e .  # install the dependencies for F1TENTH gym.
pip install -r requirements.txt  # install other dependencies

Then you can run a quick lqr steering example by:

cd lqr_steering
python main.py

Or just config PyCharm and press Ctrl+Shift+F10.

Postscript

For MPC development, please check my MPC repo for developed version.