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Repository associated with RAL-ICRA 2022 submission:

"Multi-Modal Model Predictive Control through Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving"

Multi-Modal Model Predictive Control through Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving
Click on Image to watch it on Youtube

Individual HD video link

Structure

The folder ros_ws/src contains the implementation of approaches: Standard MPC, Batch ACADO over parallel threads, Frenet Frame Planner in C++, and our proposed Multi-modal MPC. It also contains a highway driving simulator and custom ros2 messages used by the packages.

  • mpc_car_acado_single: implementation of standard MPC. The problem formulation can be viewed in the code generation file (code_gen.cpp).
  • mpc_car_acado: implementation of batch ACADO or multi-threaded ACADO where each thread solves the optimization problem for different goals.
  • frenet_cpp: implementation of trajectory sampling based approach: Frenet Frame Planner in C++
  • mpc_car_batch: implementation of our proposed multi-modal MPC that is built on Eigen C++ library.
  • highway_car: a highway driving simulator where obstacles are motivated by Intelligent Driver Model (IDM).
  • msgs_car: custom ROS2 messages that consists of visualization data as well as control input data.
  • stats: folder where the simulation data is saved

Dependencies

sudo apt install libeigen-quadprog-dev  
sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

Installation

After installing the dependencies, build our package as follows:

cd your_ws/src
git clone https://github.com/dv367/Batch-Opt-Highway-Driving  
cd your_ws/src/ros_ws/src  
colcon build  
source ./install/setup.bash

Setting a high-level driving mission

  • There are two obstacles settings: obstacles follow Intelligent Driver Model (IDM) or pre-recorded trajectories from NGSIM Dataset
  • In each approach folder, you will find config.yaml, set setting to one of the following:
    • Cruise driving in IDM env - cruise_IDM
    • Cruise driving in NGSIM env - cruise_NGSIM
    • Move with high speed and with preference of rightmost lane in IDM env - HSRL_IDM
    • Move with high speed and with preference of rightmost lane in NGSIM env - HSRL_NGSIM

In the first terminal:

  • Running our proposed multi-modal MPC
ros2 run mpc_car_batch mpc_node
  • Running multi-threaded-acado
ros2 run mpc_car_acado mpc_node
  • Running standard-mpc-acado
ros2 run mpc_car_acado_single mpc_node_single
  • Runinng frenet-frames C++
ros2 run frenet_cpp frenet_car

In the second terminal:

source ./install/setup.bash  
ros2 run highway_car highway_node2

Miscellaneous

Using the highway_car simulator for your own project:
To be written