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Author SHA1 Message Date
Mats Steinweg 89949d1644
Update README.md 2020-01-01 21:06:43 +01:00
Mats Steinweg 07b0ac8525
Update README.md 2020-01-01 21:06:26 +01:00
Mats Steinweg ab37ddf9bb
Update README.md 2020-01-01 21:06:09 +01:00
Mats Steinweg c85b245870
Update README.md 2020-01-01 21:05:40 +01:00
Mats Steinweg 12ee7d53e1
Update README.md 2020-01-01 21:05:12 +01:00
matssteinweg 77d346b82e Create Overview.svg 2020-01-01 21:04:49 +01:00
Mats Steinweg 3ccc1e5155
Update README.md 2020-01-01 20:59:58 +01:00
matssteinweg 0cee9c73b8 Create MPC_Framework.pdf 2020-01-01 20:46:32 +01:00
matssteinweg 0cb502445f Tidy up a bit. Add comments. 2020-01-01 02:14:59 +01:00
Mats Steinweg c9a00060be
Update README.md 2020-01-01 01:54:38 +01:00
Mats Steinweg 94a127cd46
Update README.md 2020-01-01 01:53:48 +01:00
Mats Steinweg 1c9e1955fd
Update README.md 2020-01-01 01:52:56 +01:00
Mats Steinweg ec672053b9
Update README.md 2019-12-31 18:20:59 +01:00
Mats Steinweg ed932c13ad
Update README.md 2019-12-31 18:16:54 +01:00
Mats Steinweg dcf70b3ce8
Update README.md 2019-12-31 18:15:03 +01:00
Mats Steinweg 3544a35ba8
Update README.md 2019-12-31 18:11:05 +01:00
Mats Steinweg 0b0febbb10
Update README.md 2019-12-31 17:52:57 +01:00
matssteinweg b78f030378 Tidy up a bit 2019-12-12 08:34:14 +01:00
matssteinweg d25de2e0c2 Add attribute dynamic_border_cells to reference path. 2019-12-08 14:57:35 +01:00
matssteinweg dc7628ee8d Remove update bounds function 2019-12-08 11:58:22 +01:00
matssteinweg df6e7351c8 Add function update_path_constraints to reference path 
for more robust computation of path constraints
 2019-12-08 11:33:25 +01:00
matssteinweg 7abc906af5 Add dynamic speed constraint based on predicted path curvature 2019-12-07 10:16:07 +01:00
matssteinweg 4e9959a1b1 Add speed profile to reference path. 
Include speed tracking in MPC
 2019-12-07 00:29:55 +01:00
matssteinweg 7e7ff06029 velocity as mpc input 2019-12-06 21:32:36 +01:00
matssteinweg d8d596bb14 Accumulate time in prediction horizon 2019-12-06 10:45:20 +01:00
matssteinweg c16b14f3cf Plot car on top of lidar scan 2019-12-04 23:29:53 +01:00
matssteinweg 26c367d880 include lidar model 2019-12-04 23:29:37 +01:00
matssteinweg 6b09b9ddc9 Remove update of member variables in update bounds 2019-12-04 23:29:22 +01:00
matssteinweg 3c305e46d4 modify safety margin in update bounds 2019-12-04 23:28:57 +01:00
matssteinweg a5f5fd9f8e Add lidar model 2019-12-04 23:28:29 +01:00
matssteinweg 120367902d update width computation. Border cell now updated to current upper and 
lower bound
 2019-12-04 14:12:33 +01:00
arne b1c49f987e compatibility with Python 2.7 2019-12-02 19:23:10 +01:00
matssteinweg 9b73084e09 Update simulation.py 2019-12-02 09:48:34 +01:00
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