0
when facing east, counterclockwise positive)20
meters per second.obstacleVehicleModelDT
function.50
meters down the road.30
meters in front of the vehicle.x
with black boundary25
steps, which is equivalent to 0.5 seconds.U = u0
X = x0
Y = Cd*x0 + Dd*u0
DX = Ad*X0 + Bd*u0 - x0
u
is the manipulated variable vector and y
is the output variable vector. You can update the constraint matrices E
, F
, and G
when the controller is running.setconstraint
function.obstacleComputeCustomConstraint
.4
seconds.mpcmoveAdaptive
| mpcmoveopt