CBF-CLF-ACC

This is a python repo that implements control barrier function quadratic programming method, and this repo focuses on the problem of Adaptive Cruise Control.

Dependencies

casadi numpy sympy matplotlib

How to use

Run acc_execute.py

Credit

https://github.com/HybridRobotics/CBF-CLF-Helper

https://github.com/kimukook/CLF-CBF-python (Change the cvxpy package in this repo to casadi)