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Jun Zeng bee361feb9 Update README.md 2021-01-07 21:23:27 -08:00
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figures Initial commit 2020-10-05 13:20:38 -07:00
DCLF_DCBF.m Initial commit 2020-10-05 13:20:38 -07:00
MPC_CBF.m Initial commit 2020-10-05 13:20:38 -07:00
MPC_DC.m Initial commit 2020-10-05 13:20:38 -07:00
README.md Update README.md 2021-01-07 21:23:27 -08:00
analysis_benchmark.m Initial commit 2020-10-05 13:20:38 -07:00
analysis_gamma.m Initial commit 2020-10-05 13:20:38 -07:00
analysis_horizon.m Initial commit 2020-10-05 13:20:38 -07:00
main.m Initial commit 2020-10-05 13:20:38 -07:00

README.md

2D double integrator

The 2D double integrator is assigned to reach the target position at origin while avoiding obstacles. We have three classes for different controllers: DCLF_DCBF.m (DCLF-DCBF), MPC_CBF.m (MPC-CBF) and MPC_DC (MPC-DC), respectively.

Moreover, to illustrate the performance among them, we have:

  • main.m: Run DCLF-DCBF/MPC-CBF/MPC-DC respectively.
  • analysis_gamma.m: Run analysis for different hyperparameter \gamma.
  • analysis_horizon.m: Run analysis for different horizon.

We illustrate the performance between DCLF-DCBF/MPC-DC/MPC-CBF

DCLF-DCBF MPC-DC (N=8)
MPC-CBF (N=1) MPC-CBF (N=8)

and also the safety performance for different numbers of horizon and hyperparameters

Different hyperparameter Different horizon