https://github.com/mrnerf/autonomouscar

https://github.com/mrnerf/autonomouscar

autonomous-robots mpc path-following

Last synced: 11 months ago
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• Host: GitHub
• URL: https://github.com/mrnerf/autonomouscar
• Owner: MrNeRF
• Created: 2018-06-09T13:22:54.000Z (about 8 years ago)
• Default Branch: master
• Last Pushed: 2018-09-06T17:42:50.000Z (almost 8 years ago)
• Last Synced: 2025-04-04T12:33:52.272Z (about 1 year ago)
• Topics: autonomous-robots, mpc, path-following
• Language: C++
• Size: 34.4 MB
• Stars: 0
• Watchers: 1
• Forks: 2
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# Model Predictive Control applied to autonomous wheeled mobile robot

This is the repository with the C++ implementation of Model Predictive Control on a simple self-made wheeled mobile robot (WMR)  - a skid-steering drive - as done in my bachelor thesis in applied mathematics. The controller lets the WMR follow any given reference path that can be parameterized. The controller is called mpc_controller in the src folder. The computer vision system "cv_system" provides the WMR with its current state information (x-,y-coordinates, heading). An example of the controller in action can be found in the following youtube video.

[![MPC Horizon 15](https://img.youtube.com/vi/7Zckkx6ERC8/0.jpg)](https://www.youtube.com/watch?v=7Zckkx6ERC8 "Model Predictive Control Horizon 15")

The controller requests its initial state from the cv_system, so that cv_system has to be started first.