model predictive control

[brunopinto900]

How hard is to couple the local planner with the controller in a Model Predictive Control Framwork using this repo?

My goal is to construct a non-linear program with smoothness cost and collision costs (like this repo does). RRT path is the initial guess, but instead of generating a state trajectory, i generate a control trajectory. How feasible is this with the current status?

Thank you.

[brunopinto900]

@Jaeyoung-Lim sorry for pinning you, but i really need an answer, since i am selecting topics for my master thesis.

[Jaeyoung-Lim]

@brunopinto900 I think these topics are quite orthogonal. You can already use a MPC on the planned trajectory in the current state of the repository.