Multi_Circle_MPC

Dependencies

• ffmpeg
• cvxopt
• matplotlib
• numpy

Directory structure

The 1_src directory contains the source code and the 2_output directory contains the output videos.

Output

The video for the multicircle implementation with 7 obstacles can be seen here. It takes approx 1.04 sec to plan a trajectory using the multicircle representation of obstacles when there are 7 obstacles.