Tag：unpiloted
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Raspberry Pi + ROS + Arduino build a navigation cart (complete code + hardware debugging)
catalogs 1. Trolley platform architecture 1.1 Overview of the experiment 1.2 Expected objectives 2、Hardware platform introduction 2.1 Implementing agencies 2.1.1 Chassis structure 2.1.2 Geared motors 2.2 Introduction to the lower drive system 2.2.1 Driver Control Unit Arduino 2.2.2 Motor Driver Unit L298P 2.3 Introduction to the upper control system 2.3.1 Raspberry Pi 2.3.2 Camera model […]
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Dynamics model-based MPC trajectory tracking algorithm for unmanned vehicles and carsim+matlab co-simulation study notes
catalogs 1 Model derivation and algorithm analysis 1.1 Model derivation 1.1.1 Vehicle dynamics model 1.1.2 Linear time-varying prediction model derivation 1.2 Model Predictive Controller Design 1.2.1 Objective function design 1.2.2 Binding design 2 Code Parsing 2.1 Template framework 2.1.1 S-Function 2.1.2 mdlInitializeSizes function 2.1.3 mdlUpdates() function 2.1.4 mdlOutputs() function 2.2 MPC Algorithm Body Jacobi matrix a […]