Highway_Mpc

MPC implementation on a straight highway with lane boundary and obstacle avoidance constraints.

Dependencies

The video for the implementation can be seen here. It takes approx 53 ms to plan a trajectory.

Name		Name	Last commit message	Last commit date
Latest commit History 4 Commits
__pycache__		__pycache__
.DS_Store		.DS_Store
README.md		README.md
agent.py		agent.py
congestation.mp4		congestation.mp4
curved.py		curved.py
curved_lane.py		curved_lane.py
incoming.mp4		incoming.mp4
incoming_traffic.py		incoming_traffic.py
planning_horizon_50.mp4		planning_horizon_50.mp4
read_phorizon.py		read_phorizon.py
read_v.py		read_v.py
read_w.py		read_w.py
straight_sparse.py		straight_sparse.py
utils.py		utils.py