MPC for Automated Valet Parking

Our EECS 561 (Digital Controls) final project.

Setup

Make a python virtual environment (to exit the venv, deactivate):

cd ${your virtual environment directory}
python3 -m venv eecs561
source eecs561/bin/activate

Install dependencies:

cd ${your desired directory for this project}
git clone https://github.com/stevenliu216/EECS561-final-project.git
pip install -r requirements.txt

Run the code

python main.py

Diagram

References

We referenced Atsushi Sakai's PythonRobotics repository for example codes for implementing MPC control in python.

@misc{PythonRobotics,
Author = {Atsushi Sakai and Daniel Ingram and Joseph Dinius and Karan Chawla and Antonin Raffin and Alexis Paques},
Title = {PythonRobotics: a Python code collection of robotics algorithms},
Year = {2018},
Eprint = {arXiv:1808.10703},
}