Commit Graph

26 Commits (15fa9f5c3369f701799117d147f4ff2c710114fb)

Author SHA1 Message Date
matssteinweg 15fa9f5c33 Add function t2s to transform temporal state into spatial state.
Modify drive function to work in temporal domain.
Add function get_current_waypoint to set the waypoint of the
reference path based on the traveled distance s of the car.
2019-12-02 00:15:30 +01:00
matssteinweg db90eb1055 Add attributes n_extension and circular. n_extensions specifies
number of waypoints to be added in the end in order to allow
for MPC control signals for last waypoints.
Add function _compute_length to get length of paths and be able to
get a waypoint based on the traveled distance s.
2019-12-02 00:13:41 +01:00
matssteinweg 447bdf9f41 MPC updates current waypoint and transforms temporal state into spatial
state before computing current control signal
2019-12-02 00:12:22 +01:00
matssteinweg e6f006e515 Add exemplary obstacles for Q path 2019-12-01 21:38:53 +01:00
matssteinweg 73d968c2f2 Remove MPC controller based on cvxpy 2019-12-01 21:38:12 +01:00
matssteinweg bf90a57adc Update MPC controller to use previously predicted control signal in
case of infeasibility. If all predicted control signal exhausted and
problem infeasible, stop execution
2019-12-01 16:40:04 +01:00
matssteinweg 296d1db030 Add dynamic constraints on e_y via update_bounds method.
Add show_prediction function to display prediction.
2019-12-01 16:05:25 +01:00
matssteinweg 12329708a7 Update and declutter simulation script.
Add obstacles for Race path.
2019-12-01 16:04:18 +01:00
matssteinweg bbae14c519 Add length, width and safety_margin to bicycle model ABC.
Add show function to display car with safety margin ellipsoid.
2019-12-01 16:02:15 +01:00
matssteinweg 6ec93febd3 Add obstacle class and function add_obstacles to add obstacles to path.
Restructure class ReferencePath a bit.
Add safety_margin to update_bounds function.
2019-12-01 15:38:17 +01:00
matssteinweg 7940964b29 Change width of quiver plot to display drivable area instead of arrows. 2019-12-01 02:05:02 +01:00
matssteinweg a3b2b4d3f3 Update m2w function. World coordinates are computed based on center of
map cell.
2019-12-01 01:58:14 +01:00
matssteinweg e87596d5e8 Add comments and restructure reference path class.
Add update_bounds method.
2019-12-01 01:56:15 +01:00
matssteinweg 76df3ce814 initial commit LTV_MPC 2019-11-29 09:36:30 +01:00
matssteinweg d0479e511c Update MPC.py
Reformulate optimization problem. Problem is now a member variable and instantiated in the constructor. Problem can then be solved with different parameters in get_control
2019-11-25 09:07:02 +01:00
matssteinweg 9454e521e1 Update simulation.py
update simulation script. No need to comment out stuff anymore. Set simulation mode and model type at the top of the script
2019-11-23 22:56:09 +01:00
matssteinweg ea7296ced1 Update spatial_bicycle_models.py
fix bug in function calling convention
2019-11-23 22:55:20 +01:00
matssteinweg 53d30d46b4 Update spatial_bicycle_models.py
Add comments. SimpleBicycleModel checked.

New Convention:
each function call with control signals
(D, delta) according to order in control signal returned by MPC
2019-11-23 22:29:25 +01:00
matssteinweg eabf75c9ad Create simulation.py
simulation script
2019-11-23 22:27:57 +01:00
matssteinweg 15994c1e70 Add map images 2019-11-23 22:27:46 +01:00
matssteinweg 862c83d590 Create .gitignore 2019-11-23 22:27:19 +01:00
matssteinweg 970dc7b370 Create map.py
map object
2019-11-23 16:46:19 +01:00
matssteinweg 4dc24ef368 Create MPC.py
MPC Controller
2019-11-23 16:46:14 +01:00
matssteinweg c7c0534fef Create reference_path.py
Reference path object
2019-11-23 16:46:07 +01:00
matssteinweg a773c1893a Create spatial_bicycle_models.py
Two different bicycle models (simple, extended)
2019-11-23 16:45:54 +01:00
matssteinweg 69aaae546e Initial commit 2019-11-23 16:42:01 +01:00