# MPC_Path_Follow_Turtlebot

**Repository Path**: lucianzhong/mpc_-path_-follow_-turtlebot

## Basic Information

- **Project Name**: MPC_Path_Follow_Turtlebot
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 2
- **Created**: 2020-09-03
- **Last Updated**: 2022-09-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README


参考:

https://github.com/imoneoi/autonomous_driving_mpc


1. 需要新建 catkin_make文件夹,然后使用catkin_make编译
    需要 turtlebot3的仿真环境
    sudo apt install ros-kinetic-ecl-geometry


2. source devel/setup.bash

    roslaunch car_model sim.launch

    roslaunch turtlebot3_gazebo  turtlebot3_empty_world.launch  // turtulebot3的仿真环境


3. src/controller_mpc

    controller_mpc.cpp // mpc 的主函数

    mpc.cpp // 组成osqp问题的形式,进行mpc的求解

    path_planner.cpp //目标路径拟合相关