MOANTOOL: A Matlab Toolbox for Model Predictive Control with Obstacle Avoidance
نویسندگان
چکیده
This paper introduces MOANTOOL a Matlab-based toolbox for formulating, solving, and simulating model predictive controllers (MPC) with embedded obstacle avoidance functionality. The toolbox offers a simple, yet powerful user interface that allows control researchers and practitioners to set up even complex control problems with just a few lines of code. MOANTOOL fully automates tedious mathematical and technical details and let the user concentrate on the problem formulation. It features a rich set of tools to perform closedloop simulations with MPC controllers and to visualize the results in an appealing way. From a theoretical point of view, MOANTOOL tackles non-convex obstacle avoidance constraints in two ways: either by using binary variables or by resorting to suboptimal, but convex, time-varying constraints.
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