Put MPC in four wheels omnidirecional robot

rst-tu-dortmund / mpc_local_planner

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

http://wiki.ros.org/mpc_local_planner

GNU General Public License v3.0

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Put MPC in four wheels omnidirecional robot #30

Open RodrigoFBernardo opened 3 years ago

RodrigoFBernardo commented 3 years ago

Good afternoon, I have a four-wheel omnidirectional robot and I would like to apply MPC, has anyone done something similar? The examples are all for differential robots and the controller is not prepared for an omnidirectional robot.

Does anyone have an idea of how I can easily adapt?

roboticlemon commented 3 years ago

I too am interested in this. A holonomic motion model which supported pure translation and rotation would be a very good addition to this library. I'd be interested in contributing to it too.