The Berkeley Autonomous Race Car (BARC) Project
During my PhD I had the opportunity to test control algorithms on the Berkeley Autonomous Racing Car (BARC) platform developed at the MPC lab by my colleague Jon Gonzales.
The BARC is an open source low cost platform developed for teaching vehicle dynamics and control algorithms. It is a platform for learning how to implement control algorithms in the real world and to understand the main challenges that we need to face when dealing with experimental systems.
In the past years, Jon and I lead several projects spanning control, estimation and low level actuation. We were lucky to work with wonderful people which were very excited to work on the BARC. Each student did a great master thesis and brought an important contribution to the BARC project.
Follows a list, in chronological order, of the students that worked on the Learning Model Predictive Control (LMPC) framework for autonomous racing on the BARC.