Open MPC_MAIN_navigation.py and run.

1. Set save_simulation=True if you want to save simulation
2. set feasible start point and goal point (default (10,2) and (20,47))
3. Horizon length (default=6) [Describe a little more]
4. desired_speed (default=5)
5. cost function weights W1, W2, W3
6. default: W1 = np.array([0.01, 0.01]) # input weightage
7. W2 = np.array([5.0, 5.0, 0.5, 5]) # state error weightage
8. W3 = np.array([0.01, 1.0]) # rate of input change weightage
9. To add more obstacles in path use lines 486 to 493 as an example and repeat the procedure.

Run mpc_test.py set run_code=1

1. Set save_simulation=True if you want to save simulation
2. Set start point and goal point (default (0,-5) and (50,30))
3. orizon length (default=5)
4. desired_speed (default=5)
5. cost function weights W1, W2, W3
6. default: W1 = np.array([0.01, 0.01]) # input weightage
7. W2 = np.array([2.0, 2.0, 0.5, 0.5]) # state error weightage
8. W3 = np.array([0.01, 0.1]) # rate of input change weightage *NUM_OF_OBSTACLES (default = 12)

Run mpc_test.py set run_code=2

1. Set save_simulation=True if you want to save simulation
2. set start point (default (0,-5))
3. Horizon length (default=5)
4. desired_speed (default=5)
5. cost function weights W1, W2, W3
6. default:
   • W1 = np.array([0.01, 0.01]) # input weightage
   • W2 = np.array([2.0, 2.0, 0.5, 0.5]) # state error weightage
   • W3 = np.array([0.01, 0.1]) # rate of input change weightage

521. path_x,path_y,path_yaw = get_right_turn(dist_step)
522. path_x,path_y,path_yaw = get_forward_course(dist_step)
523. path_x,path_y,path_yaw = get_straight_course(dist_step)

set run_code=3

1. Set save_simulation=True if you want to save simulation
2. set start point and goal point (default (0,-5) and (50,30))
3. NUM_OF_OBSTACLES (default = 12)