Model Predictive Control implementation about ROS

Abstract

I Strongly refered to the HyphaROS MPC MiniCar(https://hypharosworkshop.wordpress.com/) (Thanks for great source). I just changed the mobile robot model from bycycle to the unicycle which means differential drive wheeled mobile robot for implementing service mobile robot.

About us

Contact: [email protected]
Date: 2019/02/16
License: Apache 2.0 (from HyphaROS MPC MiniCar)

Features

• Nonlinear Bicycle Model Based MPC (through ipopt solver)
• AMCL localization (encoder-odometry based)
• GAZEBO Simulation (supports: MPC)

Install from source (16.04)

1. Install ROS Kinetic (Desktop-Full) (http://wiki.ros.org/kinetic/Installation/Ubuntu)
2. Install dependencies:

sudo apt-get install remmina synaptic gimp git ros-kinetic-navigation* ros-kinetic-gmapping ros-kinetic-hector-slam ros-kinetic-mrpt-icp-slam-2d ros-kinetic-slam-karto ros-kinetic-ackermann-msgs -y  

3. Install Ipopt: Please refer the tutorial in "document/ipopt_install".
4. create your own catkin_ws
   (http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace)

cd catkin_ws/src  
git clone https://github.com/Geonhee-LEE/mpc_ros.git
git clone https://github.com/Geonhee-LEE/zetabot-ros.git (private)
cd ..  
catkin_make  

Operation

Total navigation in simulation:

roslaunch mpc_ros mpc_Gazebo.launch 

In the GAZEBO simulation, you can check the local planner as non-linear model predictive control.

NMPC(local planner):

roslaunch mpc_ros local_mpc_Gazebo.launch 

Tracking the trajectory such as infinity-shaped, epitrochoid, square using non-linear model predictive control.

DWA:

roslaunch mpc_ros dwa_Gazebo.launch 

Tracking the trajectory such as infinity-shaped, epitrochoid, square using dynamic window approach.