Applying Nonlinear MPC for Mobile Robot in simulation using Python3
Model: Three Omni-wheeled directional Mobile robot
State: $ [x, y, \theta]^T $
Control: $ [v_x, v_y, \omega]^T $
Constraints:
$$ -1.0 \leq v_x, v_y \leq 1.0 $$
$$ -\frac{\pi}{3} \leq \omega \leq \frac{\pi}{3} $$
- Sim 2 - Moving to target position
- Sim 3 - Moving to target position and avoid static obstacles
- Sim 4 - Tracking the desired path
- Sim 5 - Tracking the desired path and avoid static obstacles
