model_predictive_control

Dependencies

OS/ROS

Ubuntu 16.04 with ROS Kinetic Kame

Ubuntu 14.04 with ROS Indigo Igloo

Python (2.7.6 or greater)

1. numpy (1.8.2 or greater)
2. matplotlib (1.3.1 or greater)
3. scipy (0.19.0 or greater

To test trajectory generation: In your terminal, go to the folder named 'scripts'

Python Script main.py Additional Parameters: Example Call: python main.py --plot all -t circle

• plot (default="none", "all") [shorthand -p]
  • none = no plots
  • all = plots end-effector position
• traj (default="pnp","circle") [shorthand -t]
  • pnp = follows a minimum jerk pick and place trajectory
  • circle = follows a planar circular trajectory

To run MPC code: In your terminal, go to the folder named 'mpc_python' Example Call: python main.py --mode train --type trajectory

Python Script main.py Additional Parameters:

• mode (default="test", "train")
  • test = to test the controller (need to put additional argument as "--model 'MODEL_NAME'")
  • train = to run MPC code to generate control inputs
• type (default="waypoints","trajectory") [shorthand -t]
  • waypoints = MPC controller synthesis with waypoints tracking
  • trajectory = MPC controller synthesis with trajectory tracking