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== Overview ==

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation. The package already provides standard realizations like minimum-time and quadratic-form receding-horizon control, but can also be easily extended by deriving from one of the various interface classes.

The following paper describes the approach:

 *C. Rösmann, A. Makarow, and T. Bertram: Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups, [[https://arxiv.org/abs/2006.03534|arXiv:2006.03534 '[cs.RO]']], June 2020.

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== Get Started ==

The best way to get started is to look at one of the example configurations in the [[https://github.com/rst-tu-dortmund/mpc_local_planner/tree/master/mpc_local_planner_examples|related GitHub repository]].
The `cfg` directory contains several example ''yaml'' configurations.

It is '''highly recommended''' to be familiar with the [[navigation]] stack and all its components (global planner, local planner, costmap_2d, ...).

It might also be helpful to be familiar with the [[teb_local_planner]] as the planners are very similar from the API and parameter point of view (the teb_local_planner wiki page already provides several tutorials which do not exist for this planner yet).

Please also have a look at the repository's [[https://github.com/rst-tu-dortmund/mpc_local_planner/wiki|wiki page]].


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