[FEATURE]: Implement a nonlinear velocity MPC algorithm

Robotic-Decision-Making-Lab / auv_controllers

A collection of control algorithms for autonomous underwater vehicles implemented using ros2_control.

MIT License

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[FEATURE]: Implement a nonlinear velocity MPC algorithm #15

Open rakeshv24 opened 3 months ago

rakeshv24 commented 3 months ago

Feature Type

Adding new functionality to the project

Problem Description

A common type of low-level controller for AUVs/ROVs is nonlinear model predictive control (NPMC). Providing support for it would be beneficial, as it requires minimal tuning and can generate optimal control actions while accommodating nonlinearities.

Feature Description

Implement NMPC as a ros2_controller.

Alternative Solutions

N/A

Additional Context

Planning to use acados and casadi for the implementation.

evan-palmer commented 3 months ago

Very cool! I'm excited to see this implemented.