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From simulation to reality : assessing the efficacy of pure pursuit, MPC, and MPCC on the F1Tenth platform
Kong, X. 2025. From Simulation to Reality: Assessing the Efficacy of Pure Pursuit, MPC, and MPCC on the F1Tenth Platform. Unpublished masters thesis. Stellenbosch: Stellenbosch University [online]. Available: https://scholar.sun.ac.za/items/a9c1084b-d0fa-47a3-9229-928d6153fac7
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Stellenbosch : Stellenbosch University
2025
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| _version_ | 1867613995575279616 |
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| access_status_str | Open Access |
| author | Kong, Xiangyiming |
| author2 | Fisher, Callen |
| author_browse | Fisher, Callen Kong, Xiangyiming |
| author_facet | Fisher, Callen Kong, Xiangyiming |
| author_sort | Kong, Xiangyiming |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Kong, X. 2025. From Simulation to Reality: Assessing the Efficacy of Pure Pursuit, MPC, and MPCC on the F1Tenth Platform. Unpublished masters thesis. Stellenbosch: Stellenbosch University [online]. Available: https://scholar.sun.ac.za/items/a9c1084b-d0fa-47a3-9229-928d6153fac7 |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/132590 |
| institution | Stellenbosch University (South Africa) |
| last_indexed | 2026-06-10T12:45:00.328Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2025 |
| publishDateRange | 2025 |
| publishDateSort | 2025 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/132590 From simulation to reality : assessing the efficacy of pure pursuit, MPC, and MPCC on the F1Tenth platform Kong, Xiangyiming Fisher, Callen Evans, Benjamin Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Autonomous vehicles -- Control systems Mobile robots -- Automatic control Predictive control Robotics -- Computer simulation UCDT Kong, X. 2025. From Simulation to Reality: Assessing the Efficacy of Pure Pursuit, MPC, and MPCC on the F1Tenth Platform. Unpublished masters thesis. Stellenbosch: Stellenbosch University [online]. Available: https://scholar.sun.ac.za/items/a9c1084b-d0fa-47a3-9229-928d6153fac7 Thesis (MEng)--Stellenbosch University, 2025. ENGLISH ABSTRACT: This study investigates the sim-to-real gap in autonomous racing using the F1Tenth platform. Through literature, three control algorithms based on their computational complexity were selected to be evaluated in simulation and on the physical F1Tenth Radio-Controlled (RC) vehicle. These control algorithms are Pure Pursuit, Model Predictive Control (MPC) and Model Predictive Contouring Control (MPCC). Simulation experiments introduced external disturbances such as noise and delay to the odometry, throttle and steering commands to assess each algorithm’s robustness and performance. Results show that in simulation, MPCC produced the fastest lap time but struggled with throttle disturbances. MPC demonstrated a balanced performance, showing effective tracking of the reference speed and trajectory. Pure Pursuit exceled in its simplicity in its computational demands and robustness to external disturbances with tracks that have minimal change in curvature. However, it performed poorly when the track had rapidly changing curvatures. The physical experiments highlighted the significance of localisation inaccuracies, which stemmed from the particle filter’s reliance on distinct environmental features. A proposed solution incorporating the Kalman filter, real-time delay compensation and adaptive steering control significantly improved the real-world performance, particularly for MPC. However, MPCC’s computational demands on the physical vehicle’s onboard computer limited its real-world performance, suggesting the need for future computational optimisations. AFRIKAANSE OPSOMMING: Hierdie studie ondersoek die sim-tot-werklike gaping in outonome wedrenne deur die F1Tenth-platform te gebruik. Deur middel van literatuur is drie beheeralgoritmes gekies op hul berekeningskompleksiteit om in simulasie en op die fisiese F1Tenth radio-beheer RC voertuig ge¨evalueer te word. Hierdie beheeralgoritmes is Pure Pursuit, Model Predictive Control (MPC) en Model Predictive Contouring Control (MPCC). Simulasie-eksperimente het eksterne steurnisse soos geraas en vertraging by die afstandsmeting, versneller en stuurbevele gevoeg om elke algoritme se robuustheid en werkverrigting te assesseer. Resultate toon dat MPCC in simulasie die vinnigste rondtetyd opgelewer het, maar met versnellerversteurings gesukkel het. MPC het ’n gebalanseerde prestasie getoon, wat effektiewe volging van die verwysingspoed en trajek toon. Pure Pursuit het uitgeblink in sy eenvoud in sy berekeningsvereistes en robuustheid teen eksterne versteurings vir bane wat minimale verandering in kromming het. Dit het egter swak gevaar vir bane met vinnig-veranderende krommings. Die fisiese eksperimente het die belangrikheid van lokaliseringsonakkuraathede uitgelig, wat spruit uit die partikelfilter se afhanklikheid van onderskeibare omgewingskenmerke. ’n Voorgestelde oplossing wat Kalman-filter, intydse vertragingsvergoeding en aanpasbare stuurbeheer insluit, het die werklike werkverrigting aansienlik verbeter, veral vir MPC. MPCC se verwerkingsvereistes het egter sy werklike werkverrigting op die fisiese voertuig se aanboordrekenaar beperk, wat die behoefte aan toekomstige berekeningsoptimisering voorstel. Masters 2025-06-11T10:35:31Z 2025-06-11T10:35:31Z 2025-03 Thesis https://scholar.sun.ac.za/handle/10019.1/132590 Stellenbosch University xiii, 83 pages : illustrations application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Autonomous vehicles -- Control systems Mobile robots -- Automatic control Predictive control Robotics -- Computer simulation UCDT Kong, Xiangyiming From simulation to reality : assessing the efficacy of pure pursuit, MPC, and MPCC on the F1Tenth platform |
| title | From simulation to reality : assessing the efficacy of pure pursuit, MPC, and MPCC on the F1Tenth platform |
| title_full | From simulation to reality : assessing the efficacy of pure pursuit, MPC, and MPCC on the F1Tenth platform |
| title_fullStr | From simulation to reality : assessing the efficacy of pure pursuit, MPC, and MPCC on the F1Tenth platform |
| title_full_unstemmed | From simulation to reality : assessing the efficacy of pure pursuit, MPC, and MPCC on the F1Tenth platform |
| title_short | From simulation to reality : assessing the efficacy of pure pursuit, MPC, and MPCC on the F1Tenth platform |
| title_sort | from simulation to reality assessing the efficacy of pure pursuit mpc and mpcc on the f1tenth platform |
| topic | Autonomous vehicles -- Control systems Mobile robots -- Automatic control Predictive control Robotics -- Computer simulation UCDT |
| url | https://scholar.sun.ac.za/handle/10019.1/132590 |
| work_keys_str_mv | AT kongxiangyiming fromsimulationtorealityassessingtheefficacyofpurepursuitmpcandmpcconthef1tenthplatform |