/Model-Predictive-Control-of-WMR

Primary LanguageMATLAB

Model Predictive Control of WMR

refer to : http://www.ece.ufrgs.br/~fetter/mechrob04_553.pdf

Trajectory

Simulation Result

Iteration Number : 1236
Sampling Period dt : 0.03
Sampling Horizon : 21

Qunit : [1, 1, 0.33]
Runit : [1e-1, 1e-1]

v minimum : -4
v maximum : 4
w minimum : -4
w maximum : 4