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).
- 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
- run CEC
python main.py
- run GPI controller
python main2.py
- The implementation is further given in report.pdf