Decentralized Tube-Based Model Predictive Controller.

Introduction

This is the implementation of the Master thesis titled : Tube-Based NMPC for non-holonomic multi-agent system in unknown enviorments.

Comming soon.

git clone https://github.com/Hamza-Robotics/dtmpc

Remember to source ROS2 in your workspace.

source /opt/ros/humble/setup.bash

sudo apt install python3-pip
sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src

source setup_acados.sh 
colcon build && source install/setup.bash
ros2 launch simulation_numerical numerical_simulation_launch.py

colcon build && source install/setup.bash && 
source setup_acados.sh  && ros2 run mpc mpc_controller_robot1.py

colcon build && source install/setup.bash && 
source setup_acados.sh  && ros2 run mpc mpc_controller_robot2.py

colcon build && source install/setup.bash && 
source setup_acados.sh  && ros2 run mpc mpc_controller_robot2.py

Name		Name	Last commit message	Last commit date
Latest commit History 116 Commits
.vscode		.vscode
data		data
src		src
utils		utils
.gitignore		.gitignore
.gitmodules		.gitmodules
LICENSE		LICENSE
README.md		README.md
acados_ocp.json		acados_ocp.json
data.pickle		data.pickle
last_qp.json		last_qp.json
robot1.xml		robot1.xml
robot2.xml		robot2.xml
ros2		ros2
setup_acados.sh		setup_acados.sh
test.py		test.py