git clone https://github.com/elena-ecn/mpc-cbf.git The dependencies can be installed by running: pip install -r requirements.txt The controller configuration can be changed through the config.py. To execute the code, run: python3 main.py ...
git clone https://github.com/elena-ecn/mpc-cbf.git The dependencies can be installed by running: pip install -r requirements.txt The controller configuration can be changed through the config.py. To execute the code, run: python3 main.py License The contents of this repository are cover...
该工作已经被ICRA 2023接收。相关链接:arXiv: https://arxiv.org/abs/2209.08539bilibili: https://www.bilibili.com/video/BV1fN4y1N7pD/?vd_source=e11d8557ce1350ea4930d15280abb7e2Github: https://github.com/jianzhuozhuTHU, 视频播放量 8755、弹幕量 0、点赞数 166
git clone https://github.com/your-mpc-repo-url.git cd mpc-repo-directory make sudo make install 请注意,这里的URL和目录名需要根据实际情况替换。 安装完成后,确保mpc.h文件的路径被添加到项目的包含路径中: 安装完成后,你需要确保编译器能够找到mpc.h头文件。这通常通过添加包含路径(include path)来实现...
"""MPC-CBF controller for a differential drive mobile robot. Author: Elena Oikonomou Date: Fall 2022 """ import numpy as np from mpc_cbf import MPC from plotter import Plotter import util def main(): np.random.seed(99) # Define controller & run simulation controller = MPC() controller....
Options: circular, infinity # For setpoint control: goal = [2, 1, np.pi/2] # Robot's goal for set point control Q_sp = np.diag([15, 15, 0.005]) # State cost matrix R_sp = np.array([2, 0.5]) # Controls cost matrix # For trajectory tracking control: Q_tr = np.diag([...
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Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot. - feat: Add multiple experiments & comparisons · elena-ecn/mpc-cbf@76585be
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该工作已经被ICRA 2023接收。相关链接:arXiv: https://arxiv.org/abs/2209.08539bilibili: https://www.bilibili.com/video/BV1fN4y1N7pD/?vd_source=e11d8557ce1350ea4930d15280abb7e2Github: https://github.com/jianzhuozhuTHU, 视频播放量 9098、弹幕量 0、点赞数 172