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Christoph Rösmann 2020-03-11 13:20:24 +01:00 committed by GitHub
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@ -4,11 +4,11 @@ mpc_local_planner ROS Package
The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.
### Authors ## Authors
* Christoph Rösmann <christoph.roesmann@tu-dortmund.de> * Christoph Rösmann <christoph.roesmann@tu-dortmund.de>
### Citing the Software ## Citing the Software
*Since a lot of time and effort has gone into the development, please cite at least one of the following publications if you are using the software for published work.* *Since a lot of time and effort has gone into the development, please cite at least one of the following publications if you are using the software for published work.*
@ -22,8 +22,9 @@ It provides a generic and versatile model predictive control implementation with
- C. Rösmann, F. Hoffmann und T. Bertram: Timed-Elastic-Bands for Time-Optimal Point-to-Point Nonlinear Model Predictive Control, European Control Conference (ECC), Austria, July 2015. - C. Rösmann, F. Hoffmann und T. Bertram: Timed-Elastic-Bands for Time-Optimal Point-to-Point Nonlinear Model Predictive Control, European Control Conference (ECC), Austria, July 2015.
- C. Rösmann, F. Hoffman und T. Bertram: Convergence Analysis of Time-Optimal Model Predictive Control under Limited Computational Resources, European Control Conference (ECC), Denmark, June 2016. - C. Rösmann, F. Hoffman und T. Bertram: Convergence Analysis of Time-Optimal Model Predictive Control under Limited Computational Resources, European Control Conference (ECC), Denmark, June 2016.
<a href="https://www.buymeacoffee.com/croesmann" target="_blank"><img src="https://www.buymeacoffee.com/assets/img/guidelines/download-assets-sm-2.svg" alt="Buy Me A Coffee"></a>
### License ## License
Copyright (c) 2020, Christoph Rösmann, All rights reserved. Copyright (c) 2020, Christoph Rösmann, All rights reserved.
@ -50,10 +51,8 @@ The package depends on third-party packages:
It depends on other ROS packages, which are listed in the package.xml. They are licensed under BSD resp. Apache 2.0. It depends on other ROS packages, which are listed in the package.xml. They are licensed under BSD resp. Apache 2.0.
### Requirements ## Requirements
Install dependencies (listed in the *package.xml* and *CMakeLists.txt* file) using *rosdep*: Install dependencies (listed in the *package.xml* and *CMakeLists.txt* file) using *rosdep*:
rosdep install mpc_local_planner rosdep install mpc_local_planner