From 3544a35ba828d790d1b468b07f5a52e1d517805a Mon Sep 17 00:00:00 2001 From: Mats Steinweg <51511047+matssteinweg@users.noreply.github.com> Date: Tue, 31 Dec 2019 18:11:05 +0100 Subject: [PATCH] Update README.md --- README.md | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index 3fbc4c0..420f653 100644 --- a/README.md +++ b/README.md @@ -1,18 +1,21 @@ # Multi-Purpose MPC -## Table of contents +1. [Introduction](##Introduction) +2. [Implementation Details](##ImplementationDetails) + 1. [MPC](#MPC) +3. [How-To](##How-To) +4. [Limitations and Outlook](##Limitations and Outlook) +4. [Contributors](#Contributors) -1. [Introduction](#introduction) -3. [Components](#components) - 1. [MPC](#mpc) -4. [How-To](#how_to) -5. [Contributors](#contributors) - -# Introduction +## Introduction In this repository you find an implementation of a multi-purpose Model Predictive Controller. The controller was implemented as a contribution to the [Automatic Control Project Course (EL2425)](https://www.kth.se/student/kurser/kurs/EL2425) at KTH Royal Institute of Technology, Stockholm. -The developed algorithm was tested on a 1:10 RC car provided by KTH Smart Mobility Lab. The test scenarios comprised the following three tasks: +The developed algorithm was tested on a 1:10 RC car provided by [KTH Smart Mobility Lab](https://www.kth.se/dcs/research/control-of-transport/smart-mobility-lab/smart-mobility-lab-1.441539). The test scenarios comprised the following three tasks: 1. Reference Path Tracking 2. Time-Optimal Driving 3. Obstacle Avoidance + +The controller is implemented in a way that enables its application to all three tasks by merely tuning the weight matrices of the underlying optimization problem. The illustration below shows the obstacle avoidance task in simulation. + +The rest of this readme is structured as follows. In [Section 2](##Components) we will present an overview of the entire system and discuss all fundamental components of the implementation in detail. In [Section 3](##How-To) we will provide guidelines for using the implementation in simulation and practice. [Section 4](##Limitations) will be dedicated to analyzing limitations of the current version of the controller and outline potential extensions of the implementation.