02 November 2019 4 7K Report

I would like to use MPC method to compute trajectories based on a bunch of initial condition and final condition set and pick the best one of them with the reference to cost. so could I change the prediction time of MPC or sampling time of MPC during the planning phase?(I mean, plan 5s from here to there and for other final condition, the time would be changed to 10s), it's that possible or are there some useful prediction theory good for that? Thanks:)

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