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README.md

Multi-Purpose MPC

Table of contents

  1. Introduction
  2. Components
    1. MPC
  3. How-To
  4. Contributors

Introduction

In this repository you find an implementation of a multi-purpose Model Predictive Controller. The controller was implemented as a contribution to the Automatic Control Project Course (EL2425) at KTH Royal Institute of Technology, Stockholm. The developed algorithm was tested on a 1:10 RC car provided by KTH Smart Mobility Lab. The test scenarios comprised the following three tasks:

  1. Reference Path Tracking
  2. Time-Optimal Driving
  3. Obstacle Avoidance