Notice

Please refer to the franka branch for a version that adds obstacle avoidance.

Nonlinear Model Predictive Control based Motion Planning

This algorithm plans the motion of UR20 based on Nonlinear Model Predictive Control (NMPC).

Dependancies

• UR20 gazebo simulation environment
• ROS Noetic
• libmpc (0.5.0)
• Pinocchio

HOW TO USE

Get simulation evironment

git clone https://github.com/sm3304love/ur20_description.git

Launch simulation

roslaunch ur20_description velocity_sim.launch

Run NMPC node

rosrun nonlinear_mpc main

Visual

Screencast.from.04-03-2024.12_49_57.PM.mp4

TO DO

• Self collision
• Obstacle avoidance