valetparking-mpc's Introduction

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},
}

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valetparking-mpc's Issues

simulator

calc_nearest_index
calc_reference_trajectory
iterate_mpc
update_state

adaptive control

Think about how to adjust the optimization weights and constraints as car approaches the destination, and implement it so that the controller better reaches the goal configuration.

Implement path planner indication that we are close to the goal (distance_to_goal())
Adjust the weights and constraints based on above (if distance_to_goal(): ...)
Evaluate the results (with and without this adjustment)
Error metrics on pose (x,y), heading angle (phi), velocity and steering angle
Evaluate various weights in Q, Qf, R, Rd matrices
Constraint on the distance to goal?
Fix random MPC divergence
More test tracks from satellite images

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