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MPC-CBF/double-integrator-2D/README.md

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2D double integrator

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.

Moreover, to illustrate the performance among them, we have:

  • main.m: Run DCLF-DCBF/MPC-CBF/MPC-DC respectively.
  • analysis_gamma.m: Run analysis for different hyperparameter \gamma.
  • analysis_horizon.m: Run analysis for different horizon.

We illustrate the performance between DCLF-DCBF/MPC-DC/MPC-CBF

DCLF-DCBF MPC-DC (N=8)
MPC-CBF (N=1) MPC-CBF (N=8)

and also the safety performance for different numbers of horizon and hyperparameters

Different hyperparameter Different horizon