Model Predictive Controller

HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors

GNU General Public License v3.0

2.28k stars 650 forks source link

Model Predictive Controller #143

Open brunopinto900 opened 2 years ago

brunopinto900 commented 2 years ago

Hello. This is an amazing repo. I am using it for drone racing in cluttered environment.

I want to implement a Non-Linear MPC using the B-spline non-linear optimization framework, essentially coupling the trajectory generation with the SO(3) controller. Can this be achiveved given the current state of the code?

Thank you.

brunopinto900 commented 2 years ago

@ZbyLGsc sorry for pinning you, but i really need an answer, since i am selecting topics for my master thesis.