TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers
Khai Nguyen,Sam Schoedel,Anoushka Alavilli,Brian Plancher,Zachary Manchester,Khai Nguyen,Sam Schoedel,Anoushka Alavilli,Brian Plancher,Zachary Manchester
Model-predictive control (MPC) is a powerful tool for controlling highly dynamic robotic systems subject to complex constraints. However, MPC is computationally demanding, and is often impractical to implement on small, resource-constrained robotic platforms. We present TinyMPC, a high-speed MPC solver with a low memory footprint targeting the microcontrollers common on small robots. Our approach ...
