VIPARES-control

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Controls Repository for VIP ARES, Path Planning and Controls vs. Human Team

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Objectives

• Implement an MPC controller with jerk-related penalties or input-rate constraints.
• Use MPC controller to simulate an autonomous vehicle tracking the paths generated by the path planning team​
• Evaluate controller performance using key metrics: jerk (RMS, peak), settling time,and energy consumption.

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Install Required Dependencies

• In a python virtual environment, do:

  python -m pip install -r requirements.txt
  

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MPC Examples

• do-mpc Example
• New MPC Example

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Resources

• what is MPC:
  https://engineering.purdue.edu/~zak/Second_ed/MPC_handout.pdf