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chelseas/obstacle_avoidance_mpc

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Simple MPC for obstacle avoidance

This repository implements nonlinear MPC using the Casadi optimization library. It also includes code for compressing that MPC policy into a neural network control policy.

Installation

git clone --recurse-submodules [email protected]:chelseas/obstacle_avoidance_mpc.git
cd obstacle_avoidance_mpc
conda create -n obstacle_avoidance_mpc python=3.9
pip install -e .

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simple nonlinear MPC

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  • Python 100.0%