Commit Graph

32 Commits (6b09b9ddc9f41c53035722546687958498b6d2d5)

Author SHA1 Message Date
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
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