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mpc_follower: add input time delay compensation

Implemented feature

Add input delay compensation for mpc to improve path following accuracy.

Description

The input time delay, which arise from sensor or linux-ECU communication delay, causes oscillation or bad tracking performance for waypoint follower. I added a time delay compensation in mpc_follower. The MPC theory can deal with the time delay with a natural expansion of the theory.

Implementation description

In mpc algorithm : calculateMPC(), save previously calculated inputs and update model for compensation time.

Merge request reports

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