UCSD ECE276B PR3

Overview

Implemented a LQR controller with computed gains from a non-linear program solver for an agent to follow a given trajectory.

Dependencies

This starter code was tested with: python 3.7, matplotlib 3.4, and numpy 1.20.

Starter code

1. main.py

Main file, computes optimal gains for agent using a NLP solver and uses them as control input for agent.

2. utils.py

This file contains code to visualize the desired trajectory, car's trajectory and obstacles.