Overcoming the sim-to-real gap: Algorithms that excel in simulation struggled in reality due to localisation errors Pure Pursuit algorithm was more robust: the algorithm transitioned smoothly to the real vehicle, while MPC required refinement. MPCC, though fastest in simulation, failed in practice. Fixes Improved Real Performance: Kalman filtering, delay compensation, and adaptive steering stabilised MPC, but MPCC remained limited by onboard computational constraints.

South Africa holds a distinct advantage in the global shift toward sustainable power: exceptional solar and wind resources. Yet, the availability of these natural resources does not automatically translate into a stable power supply. The variability of renewable sources places significant pressure on our national grid, which was historically designed for steady, centralised generation.