Online NMPC with obstacle avoidance

The video shows the online control of a scale car with nonlinear model-predictive control (NMPC) and obstacle avoidance. The position is obtained by an indoor GPS system. The online optimization within the NMPC is done by the software OCPID-DAE1, which is available on this webpage.

The results have been obtained at the Chair of Engineering Mathematics at the University of the Federal Armed Forces (