49 lines
2.4 KiB
Markdown
49 lines
2.4 KiB
Markdown
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# MPC-CBF
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Model Predictive Control with Control Barrier Functions
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# Prerequisites
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## Matlab
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The packages needed for running the code are [Yalmip](https://yalmip.github.io/) and [IPOPT](https://projects.coin-or.org/Ipopt/wiki/MatlabInterface).
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We also provide the zipped version of precompiled .mex files for IPOPT in the folder `packages` in case you don't have it. Unzip that file and add those .mex files into your MATLAB path.
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# Description
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## 2D double integrator
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The 2D double integrator is assigned to reach the target position at origin while avoiding obstacles. We have three classes for different controllers: `DCLF_DCBF.m` (DCLF-DCBF), `MPC_CBF.m` (MPC-CBF) and `MPC_DC` (MPC-DC), respectively.
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Moreover, to illustrate the performance among them, we have:
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* `main.m`: Run DCLF-DCBF/MPC-CBF/MPC-DC respectively.
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* `analysis_gamma.m`: Run analysis for different hyperparameter $\gamma$.
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* `analysis_horizon.m`: Run analysis for different horizon.
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We illustrate the performance between DCLF-DCBF/MPC-DC/MPC-CBF
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| DCLF-DCBF | MPC-DC (N=8) |
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| --- | --- |
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| <img src="double-integrator-2D/figures/dclf-dcbf-avoidance.png" width="200" height="200"> | <img src="double-integrator-2D/figures/mpc-dc-avoidance.png" width="200" height="200"> |
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| MPC-CBF (N=1) | MPC-CBF (N=8) |
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| --- | --- |
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| <img src="double-integrator-2D/figures/mpc-cbf-avoidance-one-step.png" width="200" height="200"> | <img src="double-integrator-2D/figures/mpc-cbf-avoidance-several-steps.png" width="200" height="200"> |
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and also the safety performance for different numbers of horizon and hyperparameters
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| Different hyperparameter | Different horizon |
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| --- | --- |
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| <img src="double-integrator-2D/figures/benchmark-gamma.png" width="200" height="200"> | <img src="double-integrator-2D/figures/benchmark-horizon.png" width="200" height="200"> |
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## Car racing competition
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We have the speed profile and control input shown as follow,
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<img src="car-racing/lmpc-speed-norm-profile.png" width="400">
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<img src="car-racing/lmpc-deviation-profile.png" width="400">
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<img src="car-racing/lmpc-input-profile.png" width="400">
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The animation can be found on the top of this readme, we will release full code after the paper is accepted.
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# References
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This repository is based on the following:
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* Jun Zeng, Bike Zhang and Koushil Sreenath. "Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function." [[PDF]](http://arxiv.org/abs/2007.11718)
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