Multi-Purpose MPC
Predictive Control for Time-Optimal Driving and Obstacle Avoidance
This project implements a simulation-based Model Predictive Controller for lateral and longitudinal motion control. A spatial reformulation of a kinematic bicycle model is used to allow for time-optimal driving while dynamic constraints on the drivable area facilitate obstacle avoidance.
Keywords: Python, MPC, Optimization, OSQP, Time-Optimal Driving