More controllers
brunopinto900 opened this issue · 4 comments
Sorry for opening another issue. Do you have any plans to add other controllers? If so, can you tell the reference papers? For example i was planning do add this https://foehnx.github.io/publication/icra18/ but its already done here https://github.com/llanesc/lqr-tracking.
Thank you.
@brunopinto900 Would be definitely cool to have that as part of this package, and we can then start doing benchmarks etc
@brunopinto900 Would be definitely cool to have that as part of this package, and we can then start doing benchmarks etc
That would be good to directly compare with geometric controller. The idea would be to port the code to this package with the same interface as the geometric controller.
But any more ideas for controllers?
@brunopinto900 I think any controller that is reasonably not redundant would be good.
Personally, I would be interested on adding a predictive controller, e.g. a MPPI(Model Predictive Path Integral Controller) or a MPCC(Model Predictive Contouring Control) but probably a lot more work than a full state LQR 😉
A model predictive control with collision avoidance would be nice. We can do this with the following steps:
- Integrate https://github.com/llanesc/lqr-tracking into this package. Essentialy it is a base for MPC.
- Implement a linear MPC with collision avoidance start integrate collision avoidance with RRT using OMPL (similar to PX4-Obstacle_avoidance repo).
- Think about non-linear control, etc.
The MPPI is nice, but the math is so dull haha.