281fc19b6d
Tidy up a bit. Remove inconsistencies.
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Modify s2t and t2s to work with both, state objects and np arrays.
2020-01-02 17:09:32 +01:00
77d346b82e
Create Overview.svg
2020-01-01 21:04:49 +01:00
0cee9c73b8
Create MPC_Framework.pdf
2020-01-01 20:46:32 +01:00
0cb502445f
Tidy up a bit. Add comments.
2020-01-01 02:14:59 +01:00
b78f030378
Tidy up a bit
2019-12-12 08:34:14 +01:00
d25de2e0c2
Add attribute dynamic_border_cells to reference path.
2019-12-08 14:57:35 +01:00
dc7628ee8d
Remove update bounds function
2019-12-08 11:58:22 +01:00
df6e7351c8
Add function update_path_constraints to reference path
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for more robust computation of path constraints
2019-12-08 11:33:25 +01:00
7abc906af5
Add dynamic speed constraint based on predicted path curvature
2019-12-07 10:16:07 +01:00
4e9959a1b1
Add speed profile to reference path.
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Include speed tracking in MPC
2019-12-07 00:29:55 +01:00
7e7ff06029
velocity as mpc input
2019-12-06 21:32:36 +01:00
d8d596bb14
Accumulate time in prediction horizon
2019-12-06 10:45:20 +01:00
c16b14f3cf
Plot car on top of lidar scan
2019-12-04 23:29:53 +01:00
26c367d880
include lidar model
2019-12-04 23:29:37 +01:00
6b09b9ddc9
Remove update of member variables in update bounds
2019-12-04 23:29:22 +01:00
3c305e46d4
modify safety margin in update bounds
2019-12-04 23:28:57 +01:00
a5f5fd9f8e
Add lidar model
2019-12-04 23:28:29 +01:00
120367902d
update width computation. Border cell now updated to current upper and
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lower bound
2019-12-04 14:12:33 +01:00
b1c49f987e
compatibility with Python 2.7
2019-12-02 19:23:10 +01:00
9b73084e09
Update simulation.py
2019-12-02 09:48:34 +01:00
15fa9f5c33
Add function t2s to transform temporal state into spatial state.
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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
db90eb1055
Add attributes n_extension and circular. n_extensions specifies
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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
447bdf9f41
MPC updates current waypoint and transforms temporal state into spatial
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state before computing current control signal
2019-12-02 00:12:22 +01:00
e6f006e515
Add exemplary obstacles for Q path
2019-12-01 21:38:53 +01:00
73d968c2f2
Remove MPC controller based on cvxpy
2019-12-01 21:38:12 +01:00
bf90a57adc
Update MPC controller to use previously predicted control signal in
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case of infeasibility. If all predicted control signal exhausted and
problem infeasible, stop execution
2019-12-01 16:40:04 +01:00
296d1db030
Add dynamic constraints on e_y via update_bounds method.
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Add show_prediction function to display prediction.
2019-12-01 16:05:25 +01:00
12329708a7
Update and declutter simulation script.
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Add obstacles for Race path.
2019-12-01 16:04:18 +01:00
bbae14c519
Add length, width and safety_margin to bicycle model ABC.
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Add show function to display car with safety margin ellipsoid.
2019-12-01 16:02:15 +01:00
6ec93febd3
Add obstacle class and function add_obstacles to add obstacles to path.
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Restructure class ReferencePath a bit.
Add safety_margin to update_bounds function.
2019-12-01 15:38:17 +01:00
7940964b29
Change width of quiver plot to display drivable area instead of arrows.
2019-12-01 02:05:02 +01:00
a3b2b4d3f3
Update m2w function. World coordinates are computed based on center of
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map cell.
2019-12-01 01:58:14 +01:00
e87596d5e8
Add comments and restructure reference path class.
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Add update_bounds method.
2019-12-01 01:56:15 +01:00
76df3ce814
initial commit LTV_MPC
2019-11-29 09:36:30 +01:00
d0479e511c
Update MPC.py
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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
9454e521e1
Update simulation.py
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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
ea7296ced1
Update spatial_bicycle_models.py
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fix bug in function calling convention
2019-11-23 22:55:20 +01:00
53d30d46b4
Update spatial_bicycle_models.py
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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
eabf75c9ad
Create simulation.py
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simulation script
2019-11-23 22:27:57 +01:00
15994c1e70
Add map images
2019-11-23 22:27:46 +01:00
862c83d590
Create .gitignore
2019-11-23 22:27:19 +01:00
970dc7b370
Create map.py
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map object
2019-11-23 16:46:19 +01:00
4dc24ef368
Create MPC.py
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MPC Controller
2019-11-23 16:46:14 +01:00
c7c0534fef
Create reference_path.py
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Reference path object
2019-11-23 16:46:07 +01:00
a773c1893a
Create spatial_bicycle_models.py
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Two different bicycle models (simple, extended)
2019-11-23 16:45:54 +01:00
69aaae546e
Initial commit
2019-11-23 16:42:01 +01:00
matssteinweg
arne