mpc_python_learn/.ipynb_checkpoints/README-checkpoint.md

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# 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:
![](img/quicklatex1.png)
The vehicle dynamics are described by the differential drive model:
![](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
The inputs of the model are:
* **v** linear velocity of the robot
* **w** angular velocity of the robot
## Demo
![](img/demo.gif)
To run the demo:
```bash
python3 mpc_demo/main.py
```
## Requirements
```bash
pip3 install --user --requirement requirements.txt
```