Jeremy的博客

1. Introductionset the desired angle is 0 rad, and the initial value is -0.35 rad. velocity is 6 m/s.the discrete vehicle model is built referring to page 112.2. model and simulation

1. simulation model2. simulation cases2.1 10mps（36kph）2.2 20mps（36kph）2.3 30mps(108kph)3. code3.1 path planfunction [sys,x0,str,ts] = MPC_TrajPlanner(t,x,u,flag)% 该程序功能：用点质量模型设计规划期，能够规避障...

%《无人驾驶车辆模型预测控制》6.2.2 P138%此处的xi,yi是相对于（x0,y0）的坐标，即车辆坐标系t=-1:0.1:1;S=1;x0=0;y0=0;v=10;[x,y]=meshgrid(t);xi=x-x0;yi=y-y0;kesi=0.01;Cost=(S*v)./(xi.^2+yi.^2+kesi);surf(x,y,Cost);xlabel('X/...

Q=100*eye(Nx*Np,Nx*Np); R=5*eye(Nu*Nc);Np =60;%预测步长Nc=30;%控制步长

对模型进行调整，将参考路径的圆心坐标调整为（5，1）CEN=[5,1]; 一开始追踪轨迹变为如下图，并没有跟随好；对Q、R进行调整如下：Q=[10 0 0; 0 10 0; 0 0 100];%对状态量误差的权重矩阵R=[200];%r是对控制量误差的weighting matrice再次对Q、R进行调整，观察其跟随变化：...

the comparison result of Np=15 and Np=25.predict path when Np=25clc;clear all;%% 参考轨迹生成ticNx=3;%状态量个数Np=25;%预测时域Nc=2;%控制时域l=1;N=100;%参考轨迹点数量T=0.05;%采样周期Xref=zeros(Np,1);Yref=zeros(Np,...

修改点：源程序采用了近似处理 XOUT=dsolve('Dx-vd11*cos(z)=0','Dy-vd11*sin(z)=0','Dz-vd22=0','x(0)=X00(1)','y(0)=X00(2)','z(0)=X00(3)'); XOUT=dsolve('Dx-vd11*cos(z)=0','Dy-vd11*sin(z)=0','Dz-tan(vd22)/L*vd11=0','x...

验证模型：输入：车速-t前轮偏角-t输出：1 纵向坐标-t2 航向角-tfunction [ sys,x0,str,ts ] = fun_2_1_2( t,x,u,flag )%UNTITLED2 此处显示有关此函数的摘要% 此处显示详细说明switch flag, case 0 [sys,x0,str,ts] = mdlInitializeSize...