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 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

Results

Racing car model is from: https://github.com/erwincoumans/pybullet_robots.

Results:

To run the pybullet demo:

python3 mpc_demo/mpc_demo_pybullet.py

To run the simulation-less demo:

python3 mpc_demo/mpc_demo_pybullet.py

Requirements

pip3 install --user --requirement requirements.txt

References & Special Thanks:

• Prof. Borrelli - mpc papers and material
• AtsushiSakai - pythonrobotics
• erwincoumans - pybullet
• alexliniger - mpcc and his paper
• arex18 - rocket-lander