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mcarfagno 2021-04-14 15:17:16 +01:00
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README.md
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# mpc_python # mpc_python
Python implementation of a mpc controller for path tracking using **[CVXPY](https://www.cvxpy.org/)**. 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.
## Notebooks Contents
1. State space model derivation -> analytical and numerical derivaion
2. MPC -> implementation and testing various improvements
3. Obstacle Avoidance -> Using constrains to avaoid collisions
<!--nobody cares about this
## About ## About
The MPC is a model predictive path following controller which does follow a predefined reference by solving an optimization problem. The resulting optimization problem is shown in the following equation: The MPC is a model predictive path following controller which does follow a predefined reference by solving an optimization problem. The resulting optimization problem is shown in the following equation:
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* **a** linear acceleration of the robot * **a** linear acceleration of the robot
* **delta** steering angle of the robot * **delta** steering angle of the robot
-->
## Demo ## Results
The MPC implementation is tested using **[bullet](https://pybullet.org/wordpress/)** physics simulator. Racing car model is from: *https://github.com/erwincoumans/pybullet_robots*. Racing car model is from: *https://github.com/erwincoumans/pybullet_robots*.
![](img/f10.png) ![](img/f10.png)
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pip3 install --user --requirement requirements.txt pip3 install --user --requirement requirements.txt
``` ```
## References ## References & Special Thanks:
* [mpc paper](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)
* [pythonrobotics](https://github.com/AtsushiSakai/PythonRobotics/) * [AtsushiSakai - pythonrobotics](https://github.com/AtsushiSakai/PythonRobotics/)
* [pybullet](https://pybullet.org/wordpress/) * [erwincoumans - pybullet](https://pybullet.org/wordpress/)
* [alexliniger - mpcc](https://github.com/alexliniger/MPCC) and his [paper](https://onlinelibrary.wiley.com/doi/abs/10.1002/oca.2123)
* [arex18 - rocket-lander](https://github.com/arex18/rocket-lander)

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notebooks/3.0-MPC-v3-track-constrains.ipynb
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