/Solve-MPC-using-PSO

Solve model predictive control using particle swarm optimization.

Primary LanguageC++BSD 2-Clause "Simplified" LicenseBSD-2-Clause

Solve-MPC-using-PSO

Solve model predictive control using particle swarm optimization.

Implementation

git clone git@github.com:gcjyzdd/Solve-MPC-using-PSO.git
cd Solve-MPC-using-PSO
mkdir build
chmod +x test.sh
./test.sh

Demo

Description: Apply MPC to a bicycle motion model. The desired trajectory is y=-1.

Result is shown as below:

Explanation:

  • plot 1: cross track error
  • plot 2: steering angle input
  • plot 3: throtle (acceleration)
  • plot 4: velocity
  • plot 5: trajectory of the vechicle