[Motion planning algorithm project combat] How to use MPC algorithm for path tracking (with ROS C++ code)

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foreword

In the field of autonomous driving and robotics, path tracking is a key technology that enables a vehicle or robot to drive or move along a predetermined trajectory. Traditional control methods are often difficult to deal with complex dynamic environments and nonlinear characteristics, while Model Predictive Control (MPC for short), as an advanced control method, has good adaptability and robustness. This article will introduce the principle and process of the MPC algorithm, and provide code implementation to help readers understand and apply MPC technology for path tracking.