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
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
3c305e46d4
modify safety margin in update bounds
2019-12-04 23:28:57 +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
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
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
4dc24ef368
Create MPC.py
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MPC Controller
2019-11-23 16:46:14 +01:00
matssteinweg