53 lines
1.2 KiB
Markdown
53 lines
1.2 KiB
Markdown
# mpc_python
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Python implementation of a mpc controller for path tracking using **[CVXPY](https://www.cvxpy.org/)**.
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## About
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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:
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The vehicle dynamics are described by the differential drive model:
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The state variables of the model are:
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* **x** coordinate of the robot
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* **y** coordinate of the robot
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* **theta** heading of the robot
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The inputs of the model are:
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* **v** linear velocity of the robot
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* **w** angular velocity of the robot
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## Demo
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The MPC implementation is tested using **[bullet](https://pybullet.org/wordpress/)** physics simulator. Turtlebot model is from: *https://github.com/erwincoumans/pybullet_robots*.
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Results:
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To run the pybullet demo:
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```bash
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python3 mpc_demo/mpc_demo_pybullet.py
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```
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To run the simulation-less demo:
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```bash
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python3 mpc_demo/mpc_demo_pybullet.py
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```
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## Requirements
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```bash
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pip3 install --user --requirement requirements.txt
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```
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