bicycle-obstacle-avoidance-mpc.py File Reference

Go to the source code of this file.

Namespaces
namespace	bicycle-obstacle-avoidance-mpc

Functions
def	solve_ocp (state, y_sol, x_sol)

Variables
float	Ts = 0.05
int	N_hor = 18
int	N_sim = 80
bool	multipleshooting = False
int	R_obstacle = 2
	f
	nlp
	bounds
	n_states
	n_inputs
	first_input_idx
string	name = "mpcproblem"
	f_prob = cs.Function("f", [nlp["x"], nlp["p"]], [nlp["f"]])
	g_prob = cs.Function("g", [nlp["x"], nlp["p"]], [nlp["g"]])
	prob = pa.generate_and_compile_casadi_problem(f_prob, g_prob, name=name)
	lowerbound
	upperbound
int	lbfgsmem = N_hor
int	tol = 1e-5
bool	verbose = False
dictionary	panocparams
	innersolver
	almparams
	solver = pa.ALMSolver(almparams, innersolver)
	state = np.array([-5, 0, 0, 0])
	dest = np.array([5, 0.1, 0, 0])
	x_sol = np.concatenate((np.tile(state, N_hor), np.zeros((n_inputs * N_hor,))))
	y_sol = np.zeros((prob.m,))
	xs = np.zeros((N_sim, n_states))
	times = np.zeros((N_sim,))
	t
	stats
	input = x_sol[first_input_idx : first_input_idx + n_inputs]
	fig_trajectory
	ax
	c = plt.Circle((0, 0), R_obstacle)
	fig_time