Model Predictive Control implementation about ROS

Abstract

I changed the mobile robot model from bycycle to the unicycle which means differential drive wheeled mobile robot for implementing service mobile robot.

Construct the simulation env and compare with DWA algorithm

About us

Contact: [email protected]
Date: 2019/02/16
License: Apache 2.0 (from HyphaROS MPC MiniCar)

Features

• Nonlinear Unicycle Model Based MPC (through ipopt solver)
• AMCL localization (encoder-odometry based)
• GAZEBO Simulation (supports: MPC)

Install from source (16.04)

1. Install ROS Kinetic (Desktop-Full) (http://wiki.ros.org/kinetic/Installation/Ubuntu)
2. Install dependencies:

sudo apt-get install remmina synaptic gimp git ros-kinetic-navigation* ros-kinetic-gmapping ros-kinetic-hector-slam ros-kinetic-mrpt-icp-slam-2d ros-kinetic-slam-karto ros-kinetic-ackermann-msgs -y  

3. Install Ipopt: Please refer the tutorial in "document/ipopt_install".
4. create your own catkin_ws
   (http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace)

cd catkin_ws/src  
git clone https://github.com/Geonhee-LEE/mpc_ros.git (branch : servingbot)
git clone https://github.com/CzJaewan/servingbot.git
git clone https://github.com/Geonhee-LEE/zetabot_ros.git (branch : servingbot)
catkin_make  

Operation

Total navigation in simulation:

roslaunch mpc_ros mpc_Gazebo.launch 

In the GAZEBO simulation, you can check the local planner as non-linear model predictive control. I made the new planner using pluglib.

NMPC(local planner):

roslaunch mpc_ros local_mpc_Gazebo.launch 

roslaunch zetabank_gazebo servingbot_sq_world.launch
roslaunch mpc_ros servingbot_mpc.launch 

Pure Pursuit(local planner):

roslaunch zetabank_gazebo servingbot_sq_world.launch
roslaunch mpc_ros servingbot_mpc.launch controller:=pure_pursuit

Tracking the trajectory such as infinity-shaped, epitrochoid, square using non-linear model predictive control.

DWA:

roslaunch mpc_ros dwa_Gazebo.launch 

Tracking the trajectory such as infinity-shaped, epitrochoid, square using dynamic window approach.

Reference

HyphaROS MPC MiniCar(https://hypharosworkshop.wordpress.com/)

ROS melodic

Installation

1. Install ROS Libs

sudo apt install ros-melodic-costmap-2d  ros-melodic-move-base ros-melodic-global-planner

2. Install IpOpt & build