From dd63de43976258aea9f1b536e2372938b393d7e9 Mon Sep 17 00:00:00 2001 From: mcarfagno Date: Tue, 7 Apr 2020 17:09:13 +0100 Subject: [PATCH] updated README.md --- .ipynb_checkpoints/README-checkpoint.md | 14 +++++++------- README.md | 14 +++++++------- 2 files changed, 14 insertions(+), 14 deletions(-) diff --git a/.ipynb_checkpoints/README-checkpoint.md b/.ipynb_checkpoints/README-checkpoint.md index e35fa2b..217e39a 100644 --- a/.ipynb_checkpoints/README-checkpoint.md +++ b/.ipynb_checkpoints/README-checkpoint.md @@ -6,22 +6,22 @@ Python implementation of mpc controller for path tracking. The MPC is a model predictive path following controller which does follow a predefined reference path Xref and Yref by solving an optimization problem. The resulting optimization problem is shown in the following equation: -![](img/quicklatex1.gif) +![](img/quicklatex1.png) The vehicle dynamics are described by the differential drive model: -![](img/quicklatex2.gif) +![](img/quicklatex2.png) The state variables of the model are: -* $x$ coordinate of the robot -* $y$ coordinate of the robot -* $\theta$ heading of the robot +* **x** coordinate of the robot +* **y** coordinate of the robot +* **theta** heading of the robot The inputs of the model are: -* $v$ linear velocity of the robot -* $w$ angular velocity of the robot +* **v** linear velocity of the robot +* **w** angular velocity of the robot ## Demo diff --git a/README.md b/README.md index e35fa2b..217e39a 100644 --- a/README.md +++ b/README.md @@ -6,22 +6,22 @@ Python implementation of mpc controller for path tracking. The MPC is a model predictive path following controller which does follow a predefined reference path Xref and Yref by solving an optimization problem. The resulting optimization problem is shown in the following equation: -![](img/quicklatex1.gif) +![](img/quicklatex1.png) The vehicle dynamics are described by the differential drive model: -![](img/quicklatex2.gif) +![](img/quicklatex2.png) The state variables of the model are: -* $x$ coordinate of the robot -* $y$ coordinate of the robot -* $\theta$ heading of the robot +* **x** coordinate of the robot +* **y** coordinate of the robot +* **theta** heading of the robot The inputs of the model are: -* $v$ linear velocity of the robot -* $w$ angular velocity of the robot +* **v** linear velocity of the robot +* **w** angular velocity of the robot ## Demo