taewankim1/robust_mpc_obstacle_avoidance

Robust model predictive control for path tracking with obstacle avoidance

Robust Model predictive control via sequential convex programming for obstacle avoidance

• The current version is using Gurobi solver. If you don't have a license, change it to ECOS in PTR_in_MPC.py and PTR_tf_free.py

Static obstacle avoidance for unicycle model

Moving obstacle avoidance for unicycle model

Moving obstacle avoidance for unicycle model with prediction

Moving obstacle avoidance for unicycle model with considering forward reachable sets of the obstacle

Moving obstacle avoidance with funnel

Moving obstacle avoidance with funnel with LQR Kgain

Moving obstacle avoidance with funnel with LQR Kgain and fixed Q

References

• Successive Convexification for 6-DoF Mars Rocket Powered Landing with Free-Final-Time (https://arxiv.org/pdf/1802.03827.pdf)
• Joint synthesis (https://arxiv.org/abs/2209.03535)