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alexliniger / MPCC

Model Predictive Contouring Controller (MPCC) for Autonomous Racing
Apache License 2.0
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cost function #74

Closed wulemao closed 1 year ago

wulemao commented 2 years ago

Hello! In matlab code,the objective function form is

image

However, in the paper the objective function form is

image

It seems that there are some differences between the two in the state variables and the objective function members, which confuses me a lot.Could you explain it to me how to derive the objective function in the MATLAB code from the objective function in the paper, thank you very much.

alexliniger commented 1 year ago

Q_k contains basically the contouring error + lag error term (plus some regularization cost on u_k the actual inputs, and the yaw rate and the slip angle (see the AMZ paper))

f_k contains c_k and γ (the γ v_k T_s term)

R_k is R -> U in the code is the derivative of u and not the difference as in the paper

Q_N+1 and f_N+1 are the terminal cost terms, which use higher values for the contouring cost

Generally, the Matlab code and especially the C++ code are improved versions of the code from the paper.