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[New Feature] Model Predictive Control(MPC) for Path Tracking #73

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[New Feature] Model Predictive Control(MPC) for Path Tracking #73

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a8928b9
feat(): added mpc for path tracking and dockerfile changes
mohitk3000 Apr 18, 2026
4cba843
chore(): added mpc test
mohitk3000 Apr 18, 2026
292ba8e
chore(): cleanup
mohitk3000 Apr 18, 2026
fdbdc31
fix(): fixed test
mohitk3000 Apr 19, 2026
7c68712
chore(): comments
mohitk3000 Apr 19, 2026
1bb9399
chore(): restore mppi gif
mohitk3000 Apr 19, 2026
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5 changes: 5 additions & 0 deletions Dockerfile
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Expand Up @@ -30,5 +30,10 @@ WORKDIR $WORKDIR
RUN python -m pip install --upgrade --user pip
RUN python -m pip install --upgrade --user setuptools

# Install do-mpc + CasADi
RUN pip install --no-cache-dir \
casadi>=3.6.5 \
do-mpc>=4.6.4

COPY requirements.txt $WORKDIR
RUN python -m pip install --user -r requirements.txt
2 changes: 2 additions & 0 deletions README.md
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Expand Up @@ -167,6 +167,8 @@ Planning
![](src/simulations/path_tracking/stanley_path_tracking/stanley_path_tracking.gif)
#### MPPI Path Tracking
![](src/simulations/path_tracking/mppi_path_tracking/mppi_path_tracking.gif)
#### MPC Path Tracking
![](src/simulations/path_tracking/mpc_path_tracking/mpc_path_tracking.gif)
### Perception
#### Rectangle fitting Detection
![](src/simulations/perception/point_cloud_rectangle_fitting/point_cloud_rectangle_fitting.gif)
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