Model Predictive Control (MPC)
MPC is used to optimize control inputs by approximating a reference trajectory using dt, N and T variables in a finite(2-3 seconds) time-horizon. This reference …
Tag: path
Centripetal Force
Is a force(tension force to be exact) that makes a body follow a curved path with a center. The force’s direction is always to the …
Potential Field
Potential field (represented by a number or tensor, that has a value for each point in space-time) combines attraction to the goal, and repulsion from obstacles in order to plan …
Autonomous Vehicles / Cars / Drones / Math / Science
Frenet Coordinates
Frenet coordinates are an alternative way to describe a curve in 2D space, this most commonly can be useful while computing displacement of a vehicle’s …
Viterbi algorithm for HMM
The Viterbi algorithm (using the maximum likelihood decoding (MLD) algorithm) is a dynamic programming algorithm for finding the most likely sequence of hidden states – …