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Multi-Purpose-MPC
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Mats Steinweg 2020-02-15 23:04:32 +01:00 committed by GitHub
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@ -34,6 +34,8 @@ The multi-purpose control framework presented in this repository consists of fou
<img src="Images/MPC_Framework.png">
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[embed]"Images/MPC_Framework.pdf"[/embed]
### 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.