I am trying to design an MPC controller in Python but I really don't know where to start. I watched videos on YouTube but I was confused even more. Basically, this is for a simulated autonomous vehicle. I've finished the PID controller for it but I didn't run it on the simulator yet: def PID(self, Kp, Ki, Kd, reference_velocity, vehicle_velocity, current_time, last_update_time): errors = [] Kp = 0 Ki = 0 Kd = 0 error = reference_velocity - vehicle_velocity delta_time = current_time - last_update_time last_error = errors[-1] proportional = Kp * error integral = Ki * error derivative = Kd * ((error - last_error) / (delta_time)) errors.append(error) return proportional + integral + derivative But I don't know how to start with MPC. In my init function, I have the following values: def __init__(self, waypoints): self.vars = cutils.CUtils() self._current_x = 0 self._current_y = 0 self._current_yaw = 0 self._current_speed = 0 self._desired_speed = 0 self._current_frame = 0 self._current_timestamp = 0 self._start_control_loop = False self._set_throttle = 0 self._set_brake = 0 self._set_steer = 0 self._waypoints = waypoints self._conv_rad_to_steer = 180.0 / 70.0 / np.pi self._pi = np.pi self._2pi = 2.0 * np.pi I also have the following function definitions. I'll omit the bodies of the functions. I know that I have to use these in the MPC but that's what I need guidance on. def update_values(self, x, y, yaw, speed, timestamp, frame): def update_desired_speed(self): def update_waypoints(self, new_waypoints): def get_commands(self): def set_throttle(self, input_throttle): def set_steer(self, input_steer_in_rad): def set_brake(self, input_brake): def update_controls(self): Continue reading...
