Optimal Racing Line computation

Fork of repository for finding optimal trajectory for a race car on a race track. This fork does two major updates:

• Incoroporates Single Track model.
• Incporates optimal trajectory computation for non-circular tracks.

This code has been tested with Python 3.8.16 The code for spline regression is contained in trajectory_planning_helpers/spline_approximation_open.py

1. Install packages.

pip install -r requirements.txt

2. Run code to calculate optimal trajectory and generate plots.

python3 main_globaltraj.py

3. The folder outputs/mintime contains the optimal controls and states, outputs/track_bounds.csv contains the track boundaries, outputs/traj_rac_cl.csv contains the optimal trajectory.

4. plots.ipynb contains the plots used in the report.