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Model Predictive Control

This project explores the application of Model Predictive Control (MPC) in a wheeled robot. MPC optimizes the control inputs over a finite horizon to predict the robot's trajectory. The project demonstrates how the robot follows a reference trajectory to a goal while kinetically avoiding collisions.

MPC Simulations

Scenario 1 (Animation)

MPC Animation 1

Scenario 2 (Animation)

MPC Animation 2

Scenario 3 (Animation)

MPC Animation 3

Scenario 4 (Animation)

MPC Animation 4

Scenario 5 (Animation)

MPC Animation 5

Scenario 6 (Animation)

MPC Animation 6

Scenario 7 (Animation)

MPC Animation 7

Scenario 8 (Animation)

MPC Animation 8

Scenario 9 (Animation)

MPC Animation 9

Optimization Results

Scenario 1 (Static)

MPC Result 1

Scenario 2 (Static)

MPC Result 2

Scenario 3 (Static)

MPC Result 3

Scenario 4 (Static)

MPC Result 4

Scenario 5 (Static)

MPC Result 5

Scenario 6 (Static)

MPC Result 6

Scenario 7 (Static)

MPC Result 7

Scenario 8 (Static)

MPC Result 8

Scenario 9 (Static)

MPC Result 9