This is an MPC project for motion planning & control of non-holonomic mobile systems

Have fun~~

our project video can be found here

our paper (preprint) can be found here

1. In order to run the files, please make sure you have FORCESPRO installed and in the python PATH (tested on FORCESPRO 5.1.1).

2. There are multiple simulations you can run:

./controller/MPC_static_obstacle.py contains an MPC controller + simulation for the global model of the unicycle, linearised about the trajectory. You can choose parameters such as trajectory, horizon and Q/R costs for the controller. You can also set it to avoid a static obstacle (how to do that is explained in the code comments) using the two linear constraints.

./controller/LQR.py is the LQR controller, which is unconstrained and solves the DARE to find the K that follows the pre-defined trajectory.

./controller/MPC_dynamic_obstacle.py is the two robots simulation where one of the robots avoids the other one by using a velocity constraint. Run this file to see how the controller performs. You can change the parameters for the trajectories to evaluate the performance on a shared or intersecting path.

./model/MPC_utils.py Open this file, uncomment the section at the bottom and run the file to see an example of how the outer approximation of the terminal set is calculated and plotted.