Nonlinear MPC using CasADi and Python

Applying Nonlinear MPC for Mobile Robot in simulation using Python3

Robot model

Model: Three Omni-wheeled directional Mobile robot
State: $ [x, y, \theta]^T $
Control: $ [v_x, v_y, \omega]^T $
Constraints: $$ -1.0 \leq v_x, v_y \leq 1.0 $$ $$ -\frac{\pi}{3} \leq \omega \leq \frac{\pi}{3} $$

Tasks:

• Sim 2 - Moving to target position
• Sim 3 - Moving to target position and avoid static obstacles
• Sim 4 - Tracking the desired path
• Sim 5 - Tracking the desired path and avoid static obstacles

Results

Sim 2

Sim 3

Sim 4

Sim 5