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# mpc_python # 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. 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
<!--nobody cares about this <!--nobody cares about this
## About ## About
@ -65,11 +81,12 @@ python3 mpc_demo/mpc_demo_pybullet.py
## Requirements ## Requirements
The dependencies can be installed using pip ():
```bash ```bash
pip3 install --user --requirement requirements.txt pip3 install --user --requirement requirements.txt
``` ```
## References & Special Thanks: ## References & Special Thanks :star: :
* [Prof. Borrelli - mpc papers and material](https://borrelli.me.berkeley.edu/pdfpub/IV_KinematicMPC_jason.pdf) * [Prof. Borrelli - mpc papers and material](https://borrelli.me.berkeley.edu/pdfpub/IV_KinematicMPC_jason.pdf)
* [AtsushiSakai - pythonrobotics](https://github.com/AtsushiSakai/PythonRobotics/) * [AtsushiSakai - pythonrobotics](https://github.com/AtsushiSakai/PythonRobotics/)
* [erwincoumans - pybullet](https://pybullet.org/wordpress/) * [erwincoumans - pybullet](https://pybullet.org/wordpress/)