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Linear Model Predictive Controller for Vehicle Trajectory Tracking based on Kinematic Unicycle Vehicle Motion Model with Cubic Polynomial Trajectory Generation. Evolutionary Algorithm-assisted Tuning of MPC prediction horizon and penalty matrices

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Name		Name	Last commit message	Last commit date
Latest commit History 5 Commits
TrajectoryHelperFunctions		TrajectoryHelperFunctions
GAtuned_mpc.gif		GAtuned_mpc.gif
LICENSE		LICENSE
README.md		README.md
animate.m		animate.m
generate_route.m		generate_route.m
mpc1GA.m		mpc1GA.m

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Model_Predictive_Control

Linear Model Predictive Controller for Trajectory Tracking

Animation of trajecotry tracking using MPC controller

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Linear Model Predictive Controller for Vehicle Trajectory Tracking based on Kinematic Unicycle Vehicle Motion Model with Cubic Polynomial Trajectory Generation. Evolutionary Algorithm-assisted Tuning of MPC prediction horizon and penalty matrices

motion-planning mpc trajectory-generation prediction-model feedback-controller trajectory-tracking cubic-splines unicycle mpc-control modelpredictivecontrol quintic-polynomial

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