Trajectory Tracking

Objective:

The objective is to design a control policy for the differential-drive robot to track a desired reference position trajectory. We will compare two different approaches for solving the problem in Receding-Horizon Certainty equivalent Control (CEC) and Generalized Policy Iteration (GPI).

Code:

1. Setup the environment:

conda create -name env_tracking
conda activate env_tacking
git clone https://github.com/suryapilla/Trajectory-Tracking.git
cd Trajectory-Tracking
pip install -r requirements.txt

2. run CEC

python main.py

3. run GPI controller

python main2.py

4. The implementation is further given in report.pdf