Model Predictive Control in Rust.
This is hopefully gonna be pretty straight forward (famous last words). Let’s implement a MPC-based course controller for a wave-powered vehicle, AutoNaut, based on my thesis at NTNU. My motivation for doing this is basically to complete a “full project” in Rust. I’m will write down some requirements later.
Objectives
The plan for now is below
- function to accept initial state of the vehicle, input forces and then output the final state based on Fossen’s 6-dof model.
- function to generate course reference angles
- function to initialize vehicle model
- function to implement MPC, probably using OpEn
Extended Objectives
- It could be a nice idea to run simulator and controller on different nodes and run this thing using some kind of communication solution. Perhaps nng, iceoryx2 or zeromq
- Run it headless on raspberry-pi
Moonshot
- Interface a knob-potentiometer for course angle control and display output in real-time on a display.
Goal
My end goal is to just learn some really cool things. :)