https://github.com/qhdwight/mpc-rs

Linear MPC (Model Predictive Control) Path Following
https://github.com/qhdwight/mpc-rs

control-systems mpc robotics rust rust-robotics

Last synced: 3 months ago
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Linear MPC (Model Predictive Control) Path Following

• Host: GitHub
• URL: https://github.com/qhdwight/mpc-rs
• Owner: qhdwight
• Created: 2022-08-21T02:39:50.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2024-06-07T23:44:44.000Z (8 months ago)
• Last Synced: 2024-10-15T11:45:24.187Z (3 months ago)
• Topics: control-systems, mpc, robotics, rust, rust-robotics
• Language: Rust
• Homepage:
• Size: 50.8 KB
• Stars: 3
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Linear Model Predictive Control

### Demo

https://user-images.githubusercontent.com/20666629/191329146-cf487d34-716d-4843-b2ec-523a79885047.mp4

### Idea

We can model our system and predict its state into the future.

We can also model how our inputs affect this future state.

Using a constraint solver such as QP, we can find a series of control inputs that minimizes error over a "horizon" or short time in the future.

See: https://web.stanford.edu/class/archive/ee/ee392m/ee392m.1056/Lecture14_MPC.pdf

### Libraries

[nalgebra](https://nalgebra.org/) for matrix operations

[splines](https://docs.rs/splines/latest/splines/) for linear interpolation

[osqp](https://docs.rs/osqp/latest/osqp/) for a sparse QP solver

[Bevy](https://bevyengine.org/) for visualization + [lyon](https://github.com/Nilirad/bevy_prototype_lyon) for path rendering

### Code

[controller.rs](./src/controller.rs) Linear MPC implementation, QP solver over horizon

[robot.rs](./src/robot.rs) Kinematic modeling of unicycle robot

[math.rs](./src/math.rs) Misc. features for [nalgebra](https://nalgebra.org/) since it is relatively new

### Acknowledgments 

This repository was inspired by https://github.com/niwhsa9/mpc-trajectory-tracker