40 lines
1.8 KiB
Markdown
40 lines
1.8 KiB
Markdown
# Multi-Purpose MPC
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1. [Introduction](#introduction)
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2. [Implementation Details](#implementation-details)
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1. [Map](#map)
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1. [Model Predictive Controller (MPC)](#model-predictive-controller)
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3. [How-To](#how-to)
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4. [Limitations and Outlook](#limitations-and-outlook)
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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](https://www.kth.se/dcs/research/control-of-transport/smart-mobility-lab/smart-mobility-lab-1.441539). 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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The controller is implemented in a way that enables its application to all three tasks by merely tuning the weight matrices of the underlying optimization problem. The illustration below shows the obstacle avoidance task in simulation.
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The rest of this readme is structured as follows. In [Section 2](##Components) we will present an overview of the entire system and discuss all fundamental components of the implementation in detail. In [Section 3](##How-To) we will provide guidelines for using the implementation in simulation and practice. [Section 4](##Limitations) will be dedicated to analyzing limitations of the current version of the controller and outline potential extensions of the implementation.
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## Implementation Details
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<p align="center">
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<img src="/Images/MPC_Framework.pdf">
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</p>
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### Map
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### Reference Path
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### Spatial Bicycle Model
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### Model Predictive Controller
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## How-To
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## Limitations and Outlook
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