DuckRace

How fast a duck with an iterative learning MPC can go?

Someone had to figure out.

Work in progress...

Localization in PoliAutolab: https://github.com/giuliovv/poliautolab

Implementation on real track: https://github.com/giuliovv/duckrace-implementation

N.B. Ubuntu is required (Windows is not supported by Duckietown)

LMPC

Standard line following MPC

Line extraction and following:

Name		Name	Last commit message	Last commit date
assets		assets
controllers		controllers
maps		maps
notebooks		notebooks
notebooks_test		notebooks_test
.gitignore		.gitignore
LMPC.casadi		LMPC.casadi
LMPC_obstacle_avoidance.ipynb		LMPC_obstacle_avoidance.ipynb
README.md		README.md
autolab_position.ipynb		autolab_position.ipynb
baseline.ipynb		baseline.ipynb
casadi_mpc long_control_horizon.ipynb		casadi_mpc long_control_horizon.ipynb
casadi_mpc.ipynb		casadi_mpc.ipynb
casadi_mpc_ric_ver.ipynb		casadi_mpc_ric_ver.ipynb
clean_track.ipynb		clean_track.ipynb
data_collection.json		data_collection.json
data_collection_duckwalker.json		data_collection_duckwalker.json
data_fitting.ipynb		data_fitting.ipynb
data_fitting_MPC.ipynb		data_fitting_MPC.ipynb
iterative_mpc_hull_constraint.ipynb		iterative_mpc_hull_constraint.ipynb
iterative_mpc_hull_constraint_fitted_model.ipynb		iterative_mpc_hull_constraint_fitted_model.ipynb
lmpc_coordinates_only.ipynb		lmpc_coordinates_only.ipynb
lmpc_coordinates_only_model_fit.ipynb		lmpc_coordinates_only_model_fit.ipynb
lmpc_mpc_formulation.ipynb		lmpc_mpc_formulation.ipynb
lmpc_no_border.ipynb		lmpc_no_border.ipynb
lmpc_no_border_no_orientation.ipynb		lmpc_no_border_no_orientation.ipynb
lmpc_no_border_no_orientation_auto_tuning.ipynb		lmpc_no_border_no_orientation_auto_tuning.ipynb
lmpc_no_border_orientation_weighted.ipynb		lmpc_no_border_orientation_weighted.ipynb
lmpc_preview.ipynb		lmpc_preview.ipynb
lmpc_preview_suggested.ipynb		lmpc_preview_suggested.ipynb
map_400_fixed.npy		map_400_fixed.npy
model_fitting.ipynb		model_fitting.ipynb
mpc_no_preview.ipynb		mpc_no_preview.ipynb
optimal_lmpc.ipynb		optimal_lmpc.ipynb
real_track_accuracy.ipynb		real_track_accuracy.ipynb
requirements.txt		requirements.txt
test_data_based_model.ipynb		test_data_based_model.ipynb
test_odometry copy.ipynb		test_odometry copy.ipynb
test_odometry_tuned.ipynb		test_odometry_tuned.ipynb
utils.py		utils.py

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Standard line following MPC

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Standard line following MPC

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