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https://github.com/ROB-535-F21-Team-3/Control-Project.git
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96aa438587
- Add properties for prediction horizon of states & inputs - Add properties for obstacles, current state, reference index, and termination flag - Update constructor to take in and set new properties - Move properties with calculated values to constructor - Remove function inputs for new properties - Rename `curr_state` to `Y_curr` in `MPC_Class.m` - Use object properties instead of function arguments (e.g., obj.ref_idx)
44 lines
2.1 KiB
Matlab
44 lines
2.1 KiB
Matlab
function [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team3(TestTrack,Xobs_seen,curr_state)
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% [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team3(TestTrack,Xobs_seen,curr_state)
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%
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% This script generates control inputs that avoid randomly generated
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% obstacles along the test track
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%
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% INPUTS:
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% TestTrack the structure loaded from TestTrack.mat
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%
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% Xobs_seen the output of the senseObstacles function
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%
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% curr_state taken from the last state in Y, where Y is the actual
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% trajectory updated after forward integrating the
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% vehicle dynamics using control inputs at every planning
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% iteration
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%
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% OUTPUTS:
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% Utemp an N-by-2 vector of control inputs that will be passed
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% to forwardIntegrateControlInput. Utemp must have enough
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% control inputs with time step 0.01 seconds to forward
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% integrate vehicle dynamics for the next 0.5 seconds
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%
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% FLAG_terminate a binary flag set by the function to indicate when to
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% stop the simulation. Setting this flag to 1 at a
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% planning iteration indicates that, after integrating
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% forward vehicle dynamics using the control inputs from
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% Utemp for 0.5 seconds, the vehicle would have reached
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% the goal. If this flag is set to 0, then it imples that
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% the car would not reach the goal after forward
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% integrating for 0.5 seconds. Note that, in the event
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% that FLAG_terminate is never set to 1, the simulation
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% would stop after 20 minutes so that we can process all
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% the teams files in a timely manner.
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%
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% Written by: Sravan Balaji, Xenia Demenchuk, and Peter Pongsachai
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% Created: 30 Nov 2021
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load('ROB535_ControlProject_part1_Team3.mat');
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Y_ref = ROB535_ControlProject_part1_state;
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U_ref = ROB535_ControlProject_part1_input;
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obj = MPC_Class(TestTrack, Xobs_seen, curr_state, Y_ref, U_ref);
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[Utemp, FLAG_terminate] = obj.compute_inputs();
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end
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