diff --git a/README.md b/README.md index de7d05b..8baeba5 100644 --- a/README.md +++ b/README.md @@ -1,15 +1,31 @@ # mpc_python I keep here my Jupyter notebooks on R&D on Model Predictive Control applyied to path-following problems in driverless vehicles. Includes also a Pybullet simulation to showcase the results. -This mainly uses **[CVXPY](https://www.cvxpy.org/)** as a framework. +This mainly uses **[CVXPY](https://www.cvxpy.org/)** as a framework. This repo contains code from other projecs, check them out in thr special thanks section. -## Notebooks Contents +## Contents -1. State space model derivation -> analytical and numerical derivaion +### Python Scripts -2. MPC -> implementation and testing various improvements +The settings for tuning the MPC controller are in the **mpc_config** class. -3. Obstacle Avoidance -> Using constrains to avaoid collisions +Scripts for running the algorithm with/without the pybullet simulation, *these require some tidy up* :/ +```bash +python mpc_pybullet_demo/mpc_demo_pybullet.py +``` + +A simpler demo wich does not use pybullet is also provided, this is useful for debugging +```bash +python mpc_pybullet_demo/mpc_demo_pybullet.py +``` + +### Jupyter Notebooks + +1. State space model derivation -> analytical and numerical derivaion of the model + +2. MPC -> implementation and testing of various tweaks/improvements + +3. Obstacle Avoidance -> Using halfplane constrains to avaoid track collisions -> Sill work in progress