mpc_python

Python implementation of mpc controller for path tracking.

About

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:

The vehicle dynamics are described by the differential drive model:

The state variables of the model are:

• 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

Demo

To run the demo:

python3 mpc_demo/main.py

Requirements

pip3 install --user --requirement requirements.txt