From a088c2330091c5d595946be8ffecd7cd2900c467 Mon Sep 17 00:00:00 2001 From: Andrea Palazzi Date: Tue, 4 Jul 2017 10:41:56 +0200 Subject: [PATCH] Update README.md --- project_10_MPC_control/README.md | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/project_10_MPC_control/README.md b/project_10_MPC_control/README.md index a03741a..d8c61cc 100644 --- a/project_10_MPC_control/README.md +++ b/project_10_MPC_control/README.md @@ -3,6 +3,16 @@ Self-Driving Car Engineer Nanodegree Program --- +## Project Description + +**Model predictive control (MPC)** is an advanced method of process control which relies on dynamic models of the process. +Differently from previously implemented [PID controller](https://github.com/ndrplz/self-driving-car/tree/master/project_9_PID_control), MPC controller has the ability to anticipate future events and can take control actions accordingly. Indeed, future time steps are taking into account while optimizing current time slot. + +The MPC controller framework consists in four main components: + - **Trajectory** taken in consideration during optimization. This is parametrized by a number of time steps ***N*** spaced out by a time ***dt***. Clearly, the number of variables optimized is directly proportional to *N*, so this must be considered in case there are computational constraints. + +--- + ## Dependencies * cmake >= 3.5