This repository contains code for control and simulation of a two-wheeled differential drive robot. Specifically, the aim is to drive the robot along a desired path in a minimal amount of time while staying near the path. Two control methods were implemented:
- Direct Collocation for simple trajectory optimization
- Model Predictive Control (MPC) for full feedback control
Full details and results can be found in our report. This project was completed as part of the course ROB 498: Applied Optimal Control at the University of Michigan.