Autonomous drift parking on a 1:10 Ackermann car: the lidar finds the gap, a nonlinear MPC (acados) on a Raspberry Pi drives to it, a gyro-timed slide parks it sideways. ROS 2, ESP32, Gazebo.
robotics esp32 lidar mpc gazebo control-systems state-estimation system-identification ros2 model-predictive-control nmpc micro-ros acados ackermann-steering autonomous-parking autonomous-drifting
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Updated
Oct 24, 2026 - Jupyter Notebook