Any good reference for implementing model predictive control (MPC)?

asked 2022-05-02 01:34:26 -0500

user447 gravatar image

I'm trying to implement MPC in ros1 and some references would be helpful.

I have a trajectory optimization node that publishes discrete trajectories (64 waypoints) at 20Hz and I plan to have another node for trajectory tracking. The trajectory tracking node will track whatever trajectory is available at the given moment. Any pointers for example implementation would be super helpful!

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What is the output of your code? Are you trying to implement a local planner for a robot with wheels?

Mike Scheutzow gravatar image Mike Scheutzow  ( 2022-05-03 06:28:05 -0500 )edit