Simple implementation of a Model Predictive Control [MPC] algorithm based on a bicycle modeling. Various factors are taken in account to make the cost function which is subjected to a minimization during maneuvers :
## position cost
to get to the target destination with the right linear position (x, y)
## angular cost
to get to the target destination with the right heading angle (theta)
## longi accel cost
to help avoid dangerous acceleration
## yaw rate cost
to avoid dangerous angular acceleration
## obstacle cost
to help avoid obstalce
www.udemy.com/course/model-predictive-control/
by Daniel Stang.