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Nonconvex embedded optimization: code generation for fast real-time optimization ROS support
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
Model Predictive Contouring Controller (MPCC) for Autonomous Racing
ACADO Toolkit is a software environment and algorithm collection for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control, state and parameter estimation and robust optimization.
The main features of acado/acado are: Motion Planning and Control, Planning and Control.
Open-source alternatives to acado/acado include: alphaville/optimization-engine — Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support. anassinator/ilqr — Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models. astuff/pacmod — A ROS driver for the AutonomouStuff PACMod drive-by-wire system. atsushisakai/hybridastartrailer. casadi/casadi — CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse… alexliniger/mpcc — Model Predictive Contouring Controller (MPCC) for Autonomous Racing.
