Nonlinear_MPC_with_Bezier_curve

Nonlinear MPC with reference Bezier Curve in Autonomous Driving

This was made as a class project of Yonsei University class MEU6505: Optimal Control and Reinforcement Learning.

Dependencies

• python == 3.8
• numpy == 1.21.6
• scipy == 1.9.0
• matplotlib == 3.5.2
• casadi == 3.5.5
• gym == 0.24.1
• bezier == 2021.2.12
• redis == 4.4.0

Also, you should download the acados package.

To Run

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"<acados_root>/lib"
export ACADOS_SOURCE_DIR="<acados_root>"

python online.py