GitHub - nikhil-sethi/drone-mpc-planner: Nonlinear trajectory optimization with Model predictive control for a drone model

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Nonlinear trajectory optimization with Model predictive control for a drone model

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Name		Name	Last commit message	Last commit date
Latest commit History 27 Commits
.gitignore		.gitignore
agents.py		agents.py
conf.py		conf.py
controllers.py		controllers.py
environment.py		environment.py
main.py		main.py
models.py		models.py
mpc_obs.py		mpc_obs.py
readme		readme
trajectory.py		trajectory.py
trajectory_from_constraints.py		trajectory_from_constraints.py
utils.py		utils.py

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In this repository:
1. Python simulator which can do planning, control and replay past logs
2. Main trajectory planning algorithm (trajectory.py)


## Setting up for MPC 

To build the MPC controller (you need to do this everytime you change something in controllers.py)

```python3 controllers.py```

This should createa folder called `c_generated_code` which has the gen code that acados will need for compilation. The `libacados_ocp_solver_particle_ode.so` is the main library for this.