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carlo-git's Projects

casadi_mpc_mhe_python icon casadi_mpc_mhe_python

This repository is an implementation of the work from Mohamed W. Mehrez. I convert the original code in MATLAB to the Python

data-structres icon data-structres

浙江大学《数据结构》上课笔记 + 数据结构实现 + 课后题题解

dwa_planner icon dwa_planner

ROS implementation of DWA(Dynamic Window Approach) Planner

gym_ped_sim icon gym_ped_sim

A ros gazebo plugin for pedestrians （Raw depth social compliant navigation through GAIL) ICRA 2018

mech550 icon mech550

Nonlinear Model Predictive Tracking Controller for AUV

model-predictive-control icon model-predictive-control

Model predictive control (MPC) of an autonomous vehilcle for lane tracking and obstacle avoidance with ACADO toolkit

mpc-trajectory-generator icon mpc-trajectory-generator

A trajectory generator utilizing the A-star algorithm in conjunction with a Nonlinear Model Predictive Control solver to obtain a smooth trajectory that satisfies vehicle constraints.

mpc_quadrotor icon mpc_quadrotor

Model Predictive Control for a quadrotor in static and dynamic environments

mpc_ros icon mpc_ros

Nonlinear Model Predictive Control on Differential Wheeled Mobile Robot using ROS

robust-attitude-controller-for-uav-using-dynamic-inversion-and-extended-state-observer-controller icon robust-attitude-controller-for-uav-using-dynamic-inversion-and-extended-state-observer-controller

A robust feedback linearization controller is presented for attitude control of an unmanned aerial vehicle (UAV). The objective of this controller is to make the roll angle, pitch angle, and yaw angle track the given trajectories(commands) respectively. This design is developed using dynamic inversion and extended state observer (ESO). Firstly, dynamic inversion is used to linearize and decouple UAV attitude system into three single-input-single-output (SISO) systems, then three proportional-derivative (PD) controllers are designed for these linearized systems. Extended state observers are used to estimate and compensate unmodeled dynamics and extent disturbances. Simulation results show that the proposed controller is effective and robust.

rosdistro icon rosdistro

This repo maintains a lists of repositories for each ROS distribution

turtlebot_navigation icon turtlebot_navigation

This project was completed on May 15, 2015. The goal of the project was to implement software system for frontier based exploration and navigation for turtlebot-like robots.

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