This repository is motion planning of autonomous driving using Model Predictive Control (MPC) based on CommonRoad Framework. We develop the algorithm with two tools, i.e., CasADi (IPOPT solver) and Forcespro (SQP solver), to solve the optimization problem. Finally, we used two use cases to evaluate our algorithms, i.e. lane following and collisi…
☆19May 22, 2023Updated 2 years ago
Alternatives and similar repositories for Motion-Planning-Using-Model-Predictive-Control
Users that are interested in Motion-Planning-Using-Model-Predictive-Control are comparing it to the libraries listed below
Sorting:
- ITSC2023 Hybrid MPC & Spline-based Lane Change Controller in Autonomous Vehicles☆12Sep 23, 2023Updated 2 years ago
- ☆12Nov 26, 2021Updated 4 years ago
- 使用 Carla 和 ROS2 部署规划控制常用算法，并在 carla_ad_demo 场景中运行☆16Aug 3, 2024Updated last year
- ☆21Oct 16, 2023Updated 2 years ago
- Autonomous racing using ILQR and JAX.☆39Jun 24, 2024Updated last year
- Models and model based control for vehicles on nonplanar surfaces.☆18Mar 22, 2025Updated 11 months ago
- Autonomously drifting car that learned how to drift in a roundabout using Deep Reinforcement Learning and the Carla Simulator. Performed …☆17Oct 21, 2024Updated last year
- Code for a multiple cooperative-mpc for multiple vehicles (esp. ambulance)☆19Feb 26, 2023Updated 3 years ago
- ☆10Aug 30, 2023Updated 2 years ago
- The field of autonomous vehicles has been a great topic of research for many researchers. In this paper, we are presenting a model predic…☆14Feb 21, 2022Updated 4 years ago
- ☆16Sep 11, 2019Updated 6 years ago
- This repository provides a high-accuracy vehicle dynamic model based on a vehicle body model (longitudinal, lateral, and yaw dynamics) an…☆17Mar 26, 2025Updated 11 months ago
- Learning-based Vision Dynamics Nonlinear Model Predictive Control for Autonomous Vehicles☆39Mar 24, 2023Updated 2 years ago
- Motion Planning framework with visualization for autonomous driving☆12Aug 5, 2025Updated 7 months ago
- ☆13Jun 28, 2019Updated 6 years ago
- Model Predictive Contouring Controller to control a F110 car☆26May 14, 2024Updated last year
- ☆33Aug 29, 2025Updated 6 months ago
- Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization☆34Dec 9, 2020Updated 5 years ago
- This repository contains the code for designing risk bounded motion plans for car-like robot using Carla Simulator.☆25Apr 27, 2022Updated 3 years ago
- Optimization-Based Collision Avoidance - a path planner for autonomous navigation☆11Apr 27, 2018Updated 7 years ago
- ☆16Apr 6, 2022Updated 3 years ago
- A simple robust MPC for linear systems with model mismatch: Balancing conservatism vs computational complexity☆34Mar 16, 2022Updated 4 years ago
- Repository for computing the probability distribution of an optimal control problem☆11Oct 4, 2021Updated 4 years ago
- ☆13Oct 25, 2024Updated last year
- Local Planner for a differential drive mobile robot using MPC and Acados with ROS Implementation☆13Mar 7, 2024Updated 2 years ago
- ☆19Jan 1, 2021Updated 5 years ago
- Motion planning and collision avoidance using MPC and strong duality☆55Nov 17, 2023Updated 2 years ago
- A rigid-tube based robust MPC python package.☆77Dec 22, 2025Updated 2 months ago
- TraceMem: Weaving Narrative Memory Schemata from User Conversational Traces☆44Feb 19, 2026Updated last month
- A quasi Hybrid A* method is introduced for motion planning of autonomous driving car, based on MPC and Bezier spline☆69Oct 7, 2019Updated 6 years ago
- This virtual lab contains interactive exercises to study the design of linear and adaptive model predictive controllers (MPCs) for imple…☆25Feb 13, 2026Updated last month
- A solver for nonlinear programming based on a sequential quadratic programming strategy with feasible intermediate iterates.☆22Feb 20, 2025Updated last year
- Vehicle dynamics with a sophisticated friction model and drive-train model that can be used to augment any multi-body simulation (such as…☆24Nov 14, 2024Updated last year
- A Nonlinear Model Predictive Control (NMPC)-based algorithm aimed at controlling a scale car model for autonomous racing☆26Apr 14, 2023Updated 2 years ago
- Code and example associated with the paper 'Model Predictive Control of Nonlinear Latent Force Models: A Scenario-based Approach' by T. W…☆11Jun 22, 2022Updated 3 years ago
- Spatio-temporal trajectory optimization for autonomous vehicles using trapezoid-prism shaped corridors and bezier curves☆19Apr 10, 2023Updated 2 years ago
- Implementation of Hierarchical MPC with RAID-Net☆17Jan 22, 2025Updated last year
- This repo is for developing a Koopman operator based MPC for autonomous vehicles.☆20Dec 12, 2022Updated 3 years ago
- Motion Planning for Autonomous Driving using Model Predictive Control based on CommonRoad Framework.☆67Mar 9, 2026Updated last week