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