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acados

Fast and embedded solvers for nonlinear optimal control

acc_vehicle_mpc

Model Predictive Control of Adaptive Cruise Control Vehicles.

autonomous_guidance_mpc_and_lqr-lmi

Kinematic MPC and dynamic LPV-LQR state feedback control for an autonomous vehicle

carnd-mpc-project

My solution to the Udacity Self-Driving Car Engineer Nanodegree Model Predictive Control project

carnd-mpc-project-1

Sampled Data Nonlinear Model Predictive Control for steering a car in a simulator. Takes actuator delays into account.

dipp

[TNNLS] Differentiable Integrated Prediction and Planning Framework for Urban Autonomous Driving

dmp_chebotar

f407freertos

based on F407 freeRTOSV9.0

greymodel

Grey prediction (1,1) Model based on a real event data. Based on the grey prediction data and source code of MATLAB 2018b platform, mathematical modeling is available.

greyprediction

The grey prediction model of year and population is completed. The specific meaning is: if all the information of a system is known as a white system, all the information is unknown as a black box system, part of the information is known, part of the information is unknown, then this system is a grey system. Generally speaking, social system, economic system and ecological system are all grey systems. For example, there are many factors that lead to price rise in price system, but few are known. Therefore, the grey prediction method can be used to predict the price system.

kalman_filter

Helicopter stabilization w/ LQR controller

l4casadi

Use PyTorch Models with CasADi and Acados in Python, C(++) or Matlab

matlab-bayesian-estimation

Matlab Toolbox for Bayesian Estimation

matlabplotcheatsheet

A cheatsheet for those who plot with MATLAB

mpc-and-mhe-implementation-in-matlab-using-casadi

This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE) on Matlab. The implementation is based on the Casadi Package which is used for numerical optimization. A non-holonomic mobile robot is used as a system for the implementation. The workshop video recording can be found here https://www.youtube.com/playlist?list=PLK8squHT_Uzej3UCUHjtOtm5X7pMFSgAL ... Casadi can be downloaded here https://web.casadi.org/

mpc_based-nonlinear-trajectory-planning

This project is related to Zexu's Master thesis regarding trajectory planning for 4 wheel steered vehicle

nmpc_carsim

NMPC is implemented using Casadi in Matlab to control the steering, throttle, and braking of a vehicle in CarSim

opencaret

An open-source/open-data L3 highway autopilot system for modern cars. Initially being perfected on the Kia Soul EV

openocl

Open Optimal Control Library for Matlab. Trajectory Optimization and non-linear Model Predictive Control (MPC) toolbox.

optimal-control-direct-method-examples

Teaching examples for three direct methods for solving optimal control problems namely single shooting, single step, and pseudospectral.

parnmpc

A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)

pythonrobotics

Python sample codes for robotics algorithms.

robust-tube-mpc

Robust model predictive control using tube

sbpl

Search-Based Planning Library

simulation-platform

Simulation platform for autonomous vehicle motion planning and control

vehicle-drift

Implementation of Hindiyeh 2014, "A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation"

vehicle-pure-pursuit

This submission contains a set of models to show the implementation of a Pure Pursuit controller on a vehicle under different scenarios. About the models: These models show a workflow to implement a Pure Pursuit controller to track a planned path. Steps below describe the workflow: 1. Generating waypoints 2. Formulating required steering angle for lateral control 3. Implementing a longitudinal controller to track the path at higher velocity 4. Visualizing vehicle final path in Bird's-Eye Scope and a 3D simulation environment

whole-body-control-demo

基于零空间方法（NUB）的全身控制（WBC）的简单实现

yalmip.github.io

YALMIP Homepage