Real-time behaviour synthesis with MuJoCo, using Predictive Control
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Updated
Jun 10, 2024 - C++
Real-time behaviour synthesis with MuJoCo, using Predictive Control
Simulation platform for autonomous vehicle motion planning and control
Python implementation of an automatic parallel parking system in a virtual environment, including path planning, path tracking, and parallel parking
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
Model-predictive control for microcontrollers
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718
Motion planning and Navigation of AGV/AMR:matlab implementation of Dijkstra, A*, Theta*, JPS, D*, LPA*, D* Lite, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, Voronoi, PID, LQR, MPC, APF, RPP, DWA, DDPG, Bezier, B-spline, Dubins, Reeds-Shepp etc.
iterative Linear Quadratic Regulator with constraints.
Autonomous Vehicle modelling using MATLAB and Simulink
mpc and wbc for mini cheetah in pybullet
A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn
Master's Thesis Project: Design, Development, Modelling and Simulating of a Y6 Multi-Rotor UAV, Imlementing Control Schemes such as Proportional Integral Derivative Control, Linear Quadratic Gaussian Control and Model Predictive Control on a BeagleBone Blue
Model Predictive Controller tested on Carla simulator on Race track with reference velocity.
A code for implementing autonomous car software, including environment perception, lanes detection, identifying traffic signs, and controlling the vehicle with digital PID.
Differential Dynamic Programming (DDP) with automatic symbolic differentiation
This repository contains different aspects of autonomous mobile robots including motion, control, and estimation. PID, LQR, and MPC controllers for differential drive robot are developed with ROS2. In addition, some filters are covered such as particle filter and ekf for localization.
This repository contains classwork and practice examples based on Model Predictive Control. Robust and Stochastic control methods applied to and studied for linear/non-linear plants.
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