Implementation of the iMPC-DHOCBF, an algorithm for obstacle avoidance using Discrete High-order Control Barrier Functions (DHOCBFs). DHOCBFiMPC4DyEnv uses iterative Model Predictive Control (iMPC) with a Quadratic Programming (QP) framework and can solve problems using QP solvers.
To install DHOCBFiMPC4DyEnv.jl, run the following from the Julia REPL:
Pkg.add("DHOCBFiMPC4DyEnv")Notebooks with more detailed examples can be found here