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taewankim1 / path_tracking_with_MPC-DDP-_and_parameter_least_square_matlab

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Is this code with the paper ? #1

Open 123-mzr opened 4 years ago

123-mzr commented 4 years ago

hello,I have a question for you about this code. recently, I have worked on this project about model-based RL-Learning based MPC, I want to know whether you have the paper or anything else about this code.Could you share with me? thanks a lot.

taewankim1 commented 4 years ago

Wow. I was surprised that someone was watching my code.

Yes. I have the paper (https://ieeexplore.ieee.org/abstract/document/7832324). But the contents of my code is slightly different with that of the paper. In paper, I learned the parameters in linear tire model and combined it with MPC. On the other hand, in this code I tried to learn the parameters of Brush tire model as I remember. So, the contents of the code is more applicable to general driving situations.

If you want to know the details of DDP, iLQR, you have to watch https://www.mathworks.com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization .

123-mzr commented 4 years ago

Wow,I am so glad that you can reply to me. Have you been still doing this research on recently? I am a Chinese student in China University of Petroleum,I want to study MPC and RL,so I think this code can help me.thanks a lot