Discover jvirdi2/MPC_for_autonomous_vehicle

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MATLAB
Created almost 3 years ago
Updated almost 3 years ago

jvirdi2

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Contains simulink model for lateral vehicle control using linear MPC (Model Predictive Control). The model is based off the following example: https://www.mathworks.com/help/releases/R2017b/mpc/examples/autonomous-vehicle-steering-using-model-predictive-control.html

Kalman_Filter_and_Extended_Kalman_Filter

Implementation of an EKF to predict states of a 6 DOF drone using GPS-INS fusion. Also ass3_q2 and ass_q3_kf show the difference between state estimation without KF and with KF

MATLAB

A_star_and_Hybrid_A_star

Given a graph, A* finds the optimal path, if it exists, joining the start node to the goal node. Hybrid A* takes vehicle dynamics into consideration and generates a smoother path which the vehicle can follow. Both the implementations are optimized using dictionaries & heaps

Python

ECE517_Nonlinear_and_Adaptive_Control

Contains simulation code for different homework assignment problems showcasing controller design for stabilizing systems with unknown parameters/distrubances etc

MATLAB

Robust_estimator_design_for_switched_systems

Implementation of example problem in "Robust estimator design for switched systems with unknown switching time: An LMI based approach"

MATLAB