JDR-lib / nmpc-controller

Trajectory controller for differential motion using Nonlinear Model Predictive Control

nmpc-controller

Implementation of a trajectory tracking controller for differential motion using Nonlinear Model Predictive Control.

Usage

Install dependencies

sudo apt-get install cppad libeigen3-dev libbenchmark-dev

Install Ipopt Solver

wget https://www.coin-or.org/download/source/Ipopt/Ipopt-3.12.7.zip
unzip Ipopt-3.12.7.zip
sudo bash install_ipopt.sh ./Ipopt-3.12.7

Build

git clone https://github.com/nocoinman/nmpc-controller.git
cd nmpc-controller
mkdir build
cd build
cmake ..
make -j4

Run benchmark

./build/bm_nmpc

Disabling CPU Frequency Scaling

If you see this error:

***WARNING*** CPU scaling is enabled, the benchmark real time measurements may be noisy and will incur extra overhead.

you might want to disable the CPU frequency scaling while running the benchmark:

sudo cpupower frequency-set --governor performance
./build/bm_nmpc
sudo cpupower frequency-set --governor powersave