Replace MPC with Pure Pursuit for AVP
Description
Based on the discussion in the ASWG meeting on 26/5/2020, the group decided to replace MPC with Pure Pursuit as the vehicle control algorithm due to difficulties tuning MPC performance.
Desired Behavior
We need a functioning control algorithm for AVP.
Definition of Done
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@TakaHoribe will attempt to modify two paramters provided by @christopher.ho to remove oscillations observed when testing with the simulation program developed in #408 (closed)
If tuning is unsucessful:
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Test Pure Pursuit with the simulation program developed in #408 (closed) -
Test Pure Pursuit in LGSVL -
Replace MPC with Pure Pursuit in AVP launch files
If tuning is successful:
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Test MPC in LGSVL -
Make sure that all AVP launch files correctly launch MPC
Edited by Joshua Whitley