34 lines
1.7 KiB
Markdown
34 lines
1.7 KiB
Markdown
# Multi-Purpose MPC
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1. [Introduction](##Introduction)
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2. [Implementation Details](##ImplementationDetails)
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1. [MPC](##MPC)
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3. [How-To](##How-To)
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4. [Limitations and Outlook](##Limitations and Outlook)
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4. [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](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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## How-To
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## Limitations and Outlook
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## Contributors
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[Arne Schneuing](mailto:arne-schneuing@rwth-aachen.de)
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[Mats Steinweg](mailto:mats-steinweg@rwth-aachen.de)
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