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The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

Home Page: http://wiki.ros.org/mpc_local_planner

License: GNU General Public License v3.0

CMake 6.73% C++ 90.16% Python 2.41% HTML 0.25% Pawn 0.30% Assembly 0.15%
mpc model-predictive-control ros mobile-robots trajectory-optimization car-like-robots path-planning

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