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Multi-Purpose-MPC
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@ -34,6 +34,10 @@ The multi-purpose control framework presented in this repository consists of fou
<img src="Images/MPC_Framework.png"> <img src="Images/MPC_Framework.png">
</p> </p>
<a href="https://olivermak.es/">
<img src="Images/MPC_Framework.svg" width="100%" height="144">
</a>
### Map ### Map
The Map class is a handler for the Occupancy Grid Map of the environment. The map is represented as a binary array classifying each cell as either free or occupied. Moreover, the Map class can act as a wrapper around a potential obstacle detection algorithm. By incorporating e.g. LiDAR measurements and updating the Occupancy Grid Map accordingly, new information about the drivable area can be passed to the Reference Path object. The Map class is a handler for the Occupancy Grid Map of the environment. The map is represented as a binary array classifying each cell as either free or occupied. Moreover, the Map class can act as a wrapper around a potential obstacle detection algorithm. By incorporating e.g. LiDAR measurements and updating the Occupancy Grid Map accordingly, new information about the drivable area can be passed to the Reference Path object.