19 lines
704 B
Markdown
19 lines
704 B
Markdown
# Multi-Purpose MPC
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## Table of contents
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1. [Introduction](#introduction)
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3. [Components](#components)
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1. [MPC](#mpc)
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4. [How-To](#how_to)
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5. [Contributors](#contributors)
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# Introduction
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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)](https://www.kth.se/student/kurser/kurs/EL2425) at KTH Royal Institute of Technology, Stockholm.
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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:
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1. Reference Path Tracking
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2. Time-Optimal Driving
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3. Obstacle Avoidance
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