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Model predictive controller

MPC

MPC

Dependencies

  • cmake >= 3.5
  • All OSes: click here for installation instructions
  • make >= 4.1
  • gcc/g++ >= 5.4
  • uWebSockets == 0.14, but the master branch will probably work just fine
    • Follow the instructions in the uWebSockets README to get setup for your platform. You can download the zip of the appropriate version from the releases page. Here's a link to the v0.14 zip.
    • If you have MacOS and have Homebrew installed you can just run the ./install-mac.sh script to install this.
  • Fortran Compiler
    • Mac: brew install gcc (might not be required)
    • Linux: sudo apt-get install gfortran. Additionall you have also have to install gcc and g++, sudo apt-get install gcc g++. Look in this Dockerfile for more info.
  • Ipopt
    • Mac: brew install ipopt
    • Linux
      • You will need a version of Ipopt 3.12.1 or higher. The version available through apt-get is 3.11.x. If you can get that version to work great but if not there's a script install_ipopt.sh that will install Ipopt. You just need to download the source from the Ipopt releases page or the Github releases page.
      • Then call install_ipopt.sh with the source directory as the first argument, ex: bash install_ipopt.sh Ipopt-3.12.1.
  • CppAD
    • Mac: brew install cppad
    • Linux sudo apt-get install cppad or equivalent.
  • Eigen. This is already part of the repo so you shouldn't have to worry about it.
  • Simulator. You can download these from the releases tab (or here)
  • Not a dependency but read the DATA.md for a description of the data sent back from the simulator.

Basic Build Instructions

  1. Clone this repo.
  2. Make a build directory: mkdir build && cd build
  3. Compile: cmake .. && make
  4. Run it: ./mpc.

Build Instructions (xcode)

  1. Clone this repo.
  2. Make a build directory: mkdir xcode-build && cd xcode-build
  3. Run: cmake -G Xcode ../
  4. Open MPC.xcodeproj in xcode
  5. Run it: ./mpc

References:

  1. Introduction to IPOPT: A tutorial for downloading, installing, and using IPOPT

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Vehicle kinematic model predictive control

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  • C++ 83.4%
  • Fortran 11.3%
  • C 2.0%
  • CMake 1.8%
  • Cuda 1.1%
  • Shell 0.2%
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