MPC

python_motion_planning.local_planner.mpc.MPC

Bases: LocalPlanner

Class for Model Predicted Control (MPC) motion planning.

Parameters:

Name	Type	Description	Default
start	tuple	start point coordinate	required
goal	tuple	goal point coordinate	required
env	Env	environment	required
heuristic_type	str	heuristic function type	'euclidean'
**params		other parameters can be found in the parent class LocalPlanner	{}

Examples:

Python Console Session

>>> from python_motion_planning.utils import Grid
>>> from python_motion_planning.local_planner import MPC
>>> start = (5, 5, 0)
>>> goal = (45, 25, 0)
>>> env = Grid(51, 31)
>>> planner = MPC(start, goal, env)
>>> planner.run()

mpcControl(s, s_d, u_r, u_p)

Execute MPC control process.

Parameters:

Name	Type	Description	Default
s	tuple	current state	required
s_d	tuple	desired state	required
u_r	tuple	refered control	required
u_p	tuple	previous control error	required

Returns:

Name	Type	Description
u	ndarray	control vector

plan()

MPC motion plan function.

Returns:

Name	Type	Description
flag	bool	planning successful if true else failed
pose_list	list	history poses of robot

run()

Running both plannig and animation.