Follow the Gap Method for Autonomous Race Car
follow_the_gap_node which provides a reactive method to navigate at high speeds in cluttered environments using the "Follow The Gap" algorithm".
This roscpp node has been tested on the f110 racecar platform at University of Pennsylvania's mLab. To test in a simulated environment, the racecar simulator can be cloned from mLab's racecar_simulator repository and run using the ros launch file provided.