3.MPC

需要系统的整理一下文档

已经实现了基本的mpc跟踪，使用线性mpc，掌握了公式推导，mpcc还未开始。

1.基础MPC

掌握mpc用于路径跟踪的公式推导，不同车如自行车模型，单车模型的运动学模型，

线性mpc的推导，实现基本的mpc。

MPC-based Unified Trajectory Planning and Tracking Control Approach for Automated Guided Vehicles

Optimization based trajectory planning for autonomous racing

autoware,apollo的mpc

 

2.进阶MPC

https://github.com/tud-amr/amr-lmpcc

https://github.com/ZJU-FAST-Lab/CMPCC

Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments