Merge pull request #73 from mohitk3000/feature-mpc_path_tracking

[New Feature] Model Predictive Control(MPC) for Path Tracking

Author: ShisatoYano

Dockerfile

@@ -30,5 +30,10 @@ WORKDIR $WORKDIR
 RUN python -m pip install --upgrade --user pip
 RUN python -m pip install --upgrade --user setuptools
 
+# Install do-mpc + CasADi
+RUN pip install --no-cache-dir \
+    casadi>=3.6.5 \
+    do-mpc>=4.6.4
+
 COPY requirements.txt $WORKDIR
 RUN python -m pip install --user -r requirements.txt

README.md

@@ -167,6 +167,8 @@ Planning
 ![](src/simulations/path_tracking/stanley_path_tracking/stanley_path_tracking.gif)  
 #### MPPI Path Tracking
 ![](src/simulations/path_tracking/mppi_path_tracking/mppi_path_tracking.gif)  
+#### MPC Path Tracking
+![](src/simulations/path_tracking/mpc_path_tracking/mpc_path_tracking.gif)  
 ### Perception
 #### Rectangle fitting Detection
 ![](src/simulations/perception/point_cloud_rectangle_fitting/point_cloud_rectangle_fitting.gif)  

requirements.txt

@@ -4,4 +4,6 @@ pandas
 scipy
 seaborn
 pytest
-pytest-cov
+pytest-cov
+casadi
+do-mpc