feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower #6805
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control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/mpc_param.yaml
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autowarefoundation#6805) * feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower * style(pre-commit): autofix * modified control.launch.py * update README.md * Minor changes * style(pre-commit): autofix * bug fixed * update README and add a comment to mpc_param.yaml * minor changes * add copyright * mpc_param.yaml changed * add note to README * update according to spell check * update python_simulator according to spell check * update scripts according to spell check * update according to spell-check-partial * fixed ignored words in spell check --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Kosuke Takeuchi <[email protected]> Signed-off-by: vividf <[email protected]>
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autowarefoundation#6805) * feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower * style(pre-commit): autofix * modified control.launch.py * update README.md * Minor changes * style(pre-commit): autofix * bug fixed * update README and add a comment to mpc_param.yaml * minor changes * add copyright * mpc_param.yaml changed * add note to README * update according to spell check * update python_simulator according to spell check * update scripts according to spell check * update according to spell-check-partial * fixed ignored words in spell check --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Kosuke Takeuchi <[email protected]>
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Description
This PR contains the initial implementation of the smart_mpc_trajectory_follower package, a control algorithm that combines model predictive control and machine learning.
This package replaces trajectory_follower_node package and provides adaptive vehicle control.
Tests performed
Tested on a real vehicle, autoware simulator and the python simulator included in the package.
Notes for reviewers
Interface changes
Not applicable.
Effects on system behavior
Not applicable.
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