Does the algorithm only use MPC for path tracking

Geonhee-LEE / mpc_ros

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

https://www.youtube.com/watch?v=5IqFGBmDGjU

Apache License 2.0

727 stars 169 forks source link

Does the algorithm only use MPC for path tracking #30

Closed Bala-la-la closed 2 years ago

Bala-la-la commented 2 years ago

Does the algorithm only use MPC for path tracking, or is it also used for local path planning? I read some source codes and found that it seems to track the trajectory generated by global plan。

Geonhee-LEE commented 2 years ago

It can only support the path tracking not avoidance mode.