From eb54ef4e1bdaa6f8241b32c3240b49e62464a756 Mon Sep 17 00:00:00 2001 From: Mats Steinweg <51511047+matssteinweg@users.noreply.github.com> Date: Sat, 15 Feb 2020 23:04:32 +0100 Subject: [PATCH] Update README.md --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 539166b..dc35b8a 100644 --- a/README.md +++ b/README.md @@ -34,6 +34,8 @@ The multi-purpose control framework presented in this repository consists of fou

+[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.