CLF_CBF_NMPC_python

An unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier functions (CLF-CBF-NMPC). (Details are in https://arxiv.org/abs/2105.10596)

Simulation Environment

The test code test.py is based on the simulation environment Robotarium (https://github.com/robotarium/robotarium_python_simulator). Directory \rps contains a modified Robotarium environment specifically tuned for a reach-avoid task in a crowded environment.

Demonstration

• The yellow dubin car's objective is to reach a goal area (the rectangle) while avoiding all other blue agents running in the scene.
• This CLF-CBF-NMPC module provides a motion planning solution.