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ethz-asl / mav_voxblox_planning

MAV planning tools using voxblox as the map representation.
BSD 3-Clause "New" or "Revised" License
453 stars 135 forks source link

model predictive control #81

Open brunopinto900 opened 2 years ago

brunopinto900 commented 2 years ago

How hard is to couple the local planner with the controller in a Model Predictive Control Framwork using this repo?

My goal is to construct a non-linear program with smoothness cost and collision costs (like this repo does). RRT path is the initial guess, but instead of generating a state trajectory, i generate a control trajectory. How feasible is this with the current status?

Thank you.

brunopinto900 commented 2 years ago

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

Jaeyoung-Lim commented 2 years ago

@brunopinto900 I think these topics are quite orthogonal. You can already use a MPC on the planned trajectory in the current state of the repository.